910 lines
31 KiB
C
910 lines
31 KiB
C
/*
|
|
* File : can.c
|
|
* 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
|
|
*
|
|
* Change Logs:
|
|
* Date Author Notes
|
|
* 2015-05-14 aubrcool@qq.com first version
|
|
*/
|
|
#include <rthw.h>
|
|
#include <rtthread.h>
|
|
#include <rtdevice.h>
|
|
|
|
static rt_err_t rt_can_init(struct rt_device *dev)
|
|
{
|
|
rt_err_t result = RT_EOK;
|
|
struct rt_can_device *can;
|
|
|
|
RT_ASSERT(dev != RT_NULL);
|
|
can = (struct rt_can_device *)dev;
|
|
|
|
/* initialize rx/tx */
|
|
can->can_rx = RT_NULL;
|
|
can->can_tx = RT_NULL;
|
|
|
|
/* apply configuration */
|
|
if (can->ops->configure)
|
|
result = can->ops->configure(can, &can->config);
|
|
|
|
return result;
|
|
}
|
|
/*
|
|
* can interrupt routines
|
|
*/
|
|
rt_inline int _can_int_rx(struct rt_can_device *can, struct rt_can_msg *data, int msgs)
|
|
{
|
|
int size;
|
|
struct rt_can_rx_fifo* rx_fifo;
|
|
|
|
RT_ASSERT(can != RT_NULL);
|
|
size = msgs;
|
|
|
|
rx_fifo = (struct rt_can_rx_fifo*) can->can_rx;
|
|
RT_ASSERT(rx_fifo != RT_NULL);
|
|
|
|
/* read from software FIFO */
|
|
while (msgs)
|
|
{
|
|
rt_base_t level;
|
|
struct rt_can_msg_list *listmsg=RT_NULL;
|
|
/* disable interrupt */
|
|
level = rt_hw_interrupt_disable();
|
|
#ifdef RT_CAN_USING_HDR
|
|
rt_int32_t hdr = data->hdr;
|
|
if (hdr >=0 && can->hdr && hdr < can->config.maxhdr && !rt_list_isempty(&can->hdr[hdr].list))
|
|
{
|
|
listmsg=rt_list_entry(can->hdr[hdr].list.next, struct rt_can_msg_list, hdrlist);
|
|
rt_list_remove(&listmsg->list);
|
|
rt_list_remove(&listmsg->hdrlist);
|
|
if(can->hdr[hdr].msgs) {
|
|
can->hdr[hdr].msgs--;
|
|
}
|
|
listmsg->owner = RT_NULL;
|
|
} 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);
|
|
rt_list_remove(&listmsg->list);
|
|
#ifdef RT_CAN_USING_HDR
|
|
rt_list_remove(&listmsg->hdrlist);
|
|
if(listmsg->owner != RT_NULL && listmsg->owner->msgs) {
|
|
listmsg->owner->msgs--;
|
|
}
|
|
listmsg->owner = RT_NULL;
|
|
#endif
|
|
}
|
|
else
|
|
{
|
|
/* no data, enable interrupt and break out */
|
|
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 {
|
|
break;
|
|
}
|
|
data ++; msgs -= sizeof(struct rt_can_msg);
|
|
}
|
|
|
|
return (size - msgs);
|
|
}
|
|
|
|
rt_inline int _can_int_tx(struct rt_can_device *can, const struct rt_can_msg *data, int msgs)
|
|
{
|
|
int size;
|
|
struct rt_can_tx_fifo *tx_fifo;
|
|
|
|
RT_ASSERT(can != RT_NULL);
|
|
|
|
size = msgs;
|
|
tx_fifo = (struct rt_can_tx_fifo*) can->can_tx;
|
|
RT_ASSERT(tx_fifo != RT_NULL);
|
|
|
|
while (msgs)
|
|
{
|
|
rt_base_t level;
|
|
rt_uint32_t no;
|
|
struct rt_can_sndbxinx_list* tx_tosnd = RT_NULL;
|
|
level = rt_hw_interrupt_disable();
|
|
if(!rt_list_isempty(&tx_fifo->freelist))
|
|
{
|
|
tx_tosnd = rt_list_entry(tx_fifo->freelist.next, struct rt_can_sndbxinx_list, list);
|
|
RT_ASSERT(tx_tosnd != RT_NULL);
|
|
rt_list_remove(&tx_tosnd->list);
|
|
} 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))
|
|
{
|
|
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);
|
|
level = rt_hw_interrupt_disable();
|
|
rt_uint32_t result = tx_tosnd->result;
|
|
if(!rt_list_isempty(&tx_tosnd->list)) {
|
|
rt_list_remove(&tx_tosnd->list);
|
|
}
|
|
rt_list_insert_before(&tx_fifo->freelist,&tx_tosnd->list);
|
|
rt_hw_interrupt_enable(level);
|
|
|
|
if(result == RT_CAN__SND_RESUTL_OK)
|
|
{
|
|
level = rt_hw_interrupt_disable();
|
|
can->status.sndpkg++;
|
|
rt_hw_interrupt_enable(level);
|
|
data ++; msgs -= sizeof(struct rt_can_msg);
|
|
if(!msgs) break;
|
|
}
|
|
else
|
|
{
|
|
level = rt_hw_interrupt_disable();
|
|
can->status.dropedsndpkg++;
|
|
rt_hw_interrupt_enable(level);
|
|
break;
|
|
}
|
|
|
|
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);
|
|
}
|
|
}
|
|
|
|
return (size - msgs);
|
|
}
|
|
rt_inline int _can_int_tx_priv(struct rt_can_device *can, const struct rt_can_msg *data, int msgs)
|
|
{
|
|
int size;
|
|
struct rt_can_tx_fifo *tx_fifo;
|
|
|
|
RT_ASSERT(can != RT_NULL);
|
|
|
|
size = msgs;
|
|
tx_fifo = (struct rt_can_tx_fifo*) can->can_tx;
|
|
RT_ASSERT(tx_fifo != RT_NULL);
|
|
|
|
rt_base_t level;
|
|
rt_uint32_t no;
|
|
rt_uint32_t result;
|
|
while (msgs)
|
|
{
|
|
no = data->priv;
|
|
if(no >= can->config.sndboxnumber) {
|
|
break;
|
|
}
|
|
level = rt_hw_interrupt_disable();
|
|
if((tx_fifo->buffer[no].result != RT_CAN__SND_RESUTL_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;
|
|
rt_hw_interrupt_enable(level);
|
|
if (can->ops->sendmsg(can, data ,no) != RT_EOK)
|
|
{
|
|
continue;
|
|
}
|
|
can->status.sndchange = 1;
|
|
rt_completion_wait(&(tx_fifo->buffer[no].completion), RT_WAITING_FOREVER);
|
|
result = tx_fifo->buffer[no].result;
|
|
if(result == RT_CAN__SND_RESUTL_OK)
|
|
{
|
|
level = rt_hw_interrupt_disable();
|
|
can->status.sndpkg++;
|
|
rt_hw_interrupt_enable(level);
|
|
data ++; msgs -= sizeof(struct rt_can_msg);
|
|
if(!msgs) break;
|
|
}
|
|
else
|
|
{
|
|
level = rt_hw_interrupt_disable();
|
|
can->status.dropedsndpkg++;
|
|
rt_hw_interrupt_enable(level);
|
|
break;
|
|
}
|
|
}
|
|
|
|
return (size - msgs);
|
|
}
|
|
static rt_err_t rt_can_open(struct rt_device *dev, rt_uint16_t oflag)
|
|
{
|
|
struct rt_can_device *can;
|
|
|
|
RT_ASSERT(dev != RT_NULL);
|
|
can = (struct rt_can_device *)dev;
|
|
|
|
/* get open flags */
|
|
dev->open_flag = oflag & 0xff;
|
|
rt_enter_critical();
|
|
if (can->can_rx == RT_NULL)
|
|
{
|
|
if (oflag & RT_DEVICE_FLAG_INT_RX)
|
|
{
|
|
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);
|
|
rt_list_init(&rx_fifo->uselist);
|
|
rx_fifo->freenumbers=can->config.msgboxsz;
|
|
int i = 0;
|
|
for(i = 0; i< can->config.msgboxsz; i++)
|
|
{
|
|
rt_list_insert_before(&rx_fifo->freelist,&rx_fifo->buffer[i].list);
|
|
#ifdef RT_CAN_USING_HDR
|
|
rt_list_init(&rx_fifo->buffer[i].hdrlist);
|
|
rx_fifo->buffer[i].owner = RT_NULL;
|
|
#endif
|
|
}
|
|
can->can_rx = rx_fifo;
|
|
rt_exit_critical();
|
|
dev->open_flag |= RT_DEVICE_FLAG_INT_RX;
|
|
/* configure low level device */
|
|
can->ops->control(can, RT_DEVICE_CTRL_SET_INT, (void *)RT_DEVICE_FLAG_INT_RX);
|
|
}
|
|
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)
|
|
{
|
|
struct rt_can_tx_fifo *tx_fifo;
|
|
|
|
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));
|
|
rt_list_init(&tx_fifo->freelist);
|
|
int i = 0;
|
|
for(i = 0; i< can->config.sndboxnumber; i++)
|
|
{
|
|
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;
|
|
}
|
|
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);
|
|
}
|
|
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) {
|
|
struct rt_can_hdr * phdr;
|
|
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));
|
|
int i = 0;
|
|
for(i = 0; i< can->config.maxhdr; i++)
|
|
{
|
|
rt_list_init(&phdr[i].list);
|
|
}
|
|
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();
|
|
}
|
|
return RT_EOK;
|
|
}
|
|
|
|
static rt_err_t rt_can_close(struct rt_device *dev)
|
|
{
|
|
struct rt_can_device *can;
|
|
|
|
RT_ASSERT(dev != RT_NULL);
|
|
can = (struct rt_can_device *)dev;
|
|
|
|
/* this device has more reference count */
|
|
if (dev->ref_count > 1) 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) {
|
|
rt_free(can->hdr);
|
|
can->hdr = RT_NULL;
|
|
rt_exit_critical();
|
|
} else {
|
|
rt_exit_critical();
|
|
}
|
|
#endif
|
|
if (dev->open_flag & RT_DEVICE_FLAG_INT_RX)
|
|
{
|
|
struct rt_can_rx_fifo* rx_fifo;
|
|
|
|
rx_fifo = (struct rt_can_rx_fifo*)can->can_rx;
|
|
RT_ASSERT(rx_fifo != RT_NULL);
|
|
|
|
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);
|
|
}
|
|
if (dev->open_flag & RT_DEVICE_FLAG_INT_TX)
|
|
{
|
|
struct rt_can_tx_fifo* tx_fifo;
|
|
|
|
tx_fifo = (struct rt_can_tx_fifo*)can->can_rx;
|
|
RT_ASSERT(tx_fifo != RT_NULL);
|
|
|
|
rt_free(tx_fifo);
|
|
dev->open_flag &= ~RT_DEVICE_FLAG_INT_TX;
|
|
/* 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);
|
|
return RT_EOK;
|
|
}
|
|
|
|
static rt_size_t rt_can_read(struct rt_device *dev,
|
|
rt_off_t pos,
|
|
void *buffer,
|
|
rt_size_t size)
|
|
{
|
|
struct rt_can_device *can;
|
|
|
|
RT_ASSERT(dev != RT_NULL);
|
|
if (size == 0) return 0;
|
|
|
|
can = (struct rt_can_device *)dev;
|
|
|
|
if (dev->open_flag & RT_DEVICE_FLAG_INT_RX)
|
|
{
|
|
return _can_int_rx(can, buffer, size);
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
static rt_size_t rt_can_write(struct rt_device *dev,
|
|
rt_off_t pos,
|
|
const void *buffer,
|
|
rt_size_t size)
|
|
{
|
|
struct rt_can_device *can;
|
|
|
|
RT_ASSERT(dev != RT_NULL);
|
|
if (size == 0) return 0;
|
|
|
|
can = (struct rt_can_device *)dev;
|
|
|
|
if (dev->open_flag & RT_DEVICE_FLAG_INT_TX)
|
|
{
|
|
if(can->config.privmode) {
|
|
return _can_int_tx_priv(can, buffer, size);
|
|
} else {
|
|
return _can_int_tx(can, buffer, size);
|
|
}
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
static rt_err_t rt_can_control(struct rt_device *dev,
|
|
rt_uint8_t cmd,
|
|
void *args)
|
|
{
|
|
struct rt_can_device *can;
|
|
rt_err_t res;
|
|
|
|
RT_ASSERT(dev != RT_NULL);
|
|
can = (struct rt_can_device *)dev;
|
|
|
|
switch (cmd)
|
|
{
|
|
case RT_DEVICE_CTRL_SUSPEND:
|
|
/* suspend device */
|
|
dev->flag |= RT_DEVICE_FLAG_SUSPENDED;
|
|
break;
|
|
|
|
case RT_DEVICE_CTRL_RESUME:
|
|
/* resume device */
|
|
dev->flag &= ~RT_DEVICE_FLAG_SUSPENDED;
|
|
break;
|
|
|
|
case RT_DEVICE_CTRL_CONFIG:
|
|
/* configure device */
|
|
can->ops->configure(can, (struct can_configure *)args);
|
|
break;
|
|
case RT_CAN_CMD_SET_PRIV:
|
|
/* configure device */
|
|
if((rt_uint32_t)args != can->config.privmode) {
|
|
if(res = can->ops->control(can, cmd, args) != RT_EOK) {
|
|
return res;
|
|
}
|
|
struct rt_can_tx_fifo* tx_fifo;
|
|
tx_fifo = (struct rt_can_tx_fifo*) can->can_tx;
|
|
int i;
|
|
rt_base_t level;
|
|
if(can->config.privmode) {
|
|
rt_completion_done(&(tx_fifo->completion));
|
|
level = rt_hw_interrupt_disable();
|
|
for(i = 0; i< can->config.sndboxnumber; i++)
|
|
{
|
|
rt_list_remove(&tx_fifo->buffer[i].list);
|
|
}
|
|
rt_hw_interrupt_enable(level);
|
|
} else {
|
|
for(i = 0; i< can->config.sndboxnumber; i++)
|
|
{
|
|
rt_base_t level;
|
|
level = rt_hw_interrupt_disable();
|
|
if(tx_fifo->buffer[i].result == RT_CAN__SND_RESUTL_OK) {
|
|
rt_list_insert_before(&tx_fifo->freelist,&tx_fifo->buffer[i].list);
|
|
}
|
|
rt_hw_interrupt_enable(level);
|
|
}
|
|
}
|
|
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);
|
|
if(res != RT_EOK || can->hdr == RT_NULL) {
|
|
return res;
|
|
}
|
|
{
|
|
struct rt_can_filter_config* pfilter;
|
|
struct rt_can_filter_item* pitem;
|
|
rt_uint32_t count;
|
|
rt_base_t level;
|
|
pfilter = (struct rt_can_filter_config*)args;
|
|
count = pfilter->count;
|
|
pitem = pfilter->items;
|
|
if(pfilter->actived) {
|
|
while(count) {
|
|
if(pitem->hdr >= can->config.maxhdr || pitem->hdr < 0) {
|
|
count--;
|
|
pitem++;
|
|
continue;
|
|
}
|
|
level = rt_hw_interrupt_disable();
|
|
if(!can->hdr[pitem->hdr].connected) {
|
|
rt_memcpy(&can->hdr[pitem->hdr].filter,pitem,
|
|
sizeof(struct rt_can_filter_item));
|
|
can->hdr[pitem->hdr].connected = 1;
|
|
can->hdr[pitem->hdr].msgs = 0;
|
|
rt_list_init(&can->hdr[pitem->hdr].list);
|
|
}
|
|
rt_hw_interrupt_enable(level);
|
|
count--;
|
|
pitem++;
|
|
}
|
|
} else {
|
|
while(count) {
|
|
if(pitem->hdr >= can->config.maxhdr || pitem->hdr < 0) {
|
|
count--;
|
|
pitem++;
|
|
continue;
|
|
}
|
|
level = rt_hw_interrupt_disable();
|
|
if(can->hdr[pitem->hdr].connected) {
|
|
rt_memset(&can->hdr[pitem->hdr].filter,0,
|
|
sizeof(struct rt_can_filter_item));
|
|
can->hdr[pitem->hdr].connected = 0;
|
|
can->hdr[pitem->hdr].msgs = 0;
|
|
if(!rt_list_isempty(&can->hdr[pitem->hdr].list))
|
|
{
|
|
rt_list_remove(can->hdr[pitem->hdr].list.next);
|
|
}
|
|
}
|
|
rt_hw_interrupt_enable(level);
|
|
count--;
|
|
pitem++;
|
|
}
|
|
}
|
|
}
|
|
break;
|
|
#endif /*RT_CAN_USING_HDR*/
|
|
default :
|
|
/* control device */
|
|
if(can->ops->control != RT_NULL)
|
|
{
|
|
can->ops->control(can, cmd, args);
|
|
}
|
|
break;
|
|
}
|
|
|
|
return RT_EOK;
|
|
}
|
|
/*
|
|
* can timer
|
|
*/
|
|
static void cantimeout(void* arg)
|
|
{
|
|
rt_uint32_t ledonflag = 0;
|
|
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) {
|
|
ledonflag = 1;
|
|
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);
|
|
}
|
|
}
|
|
|
|
/*
|
|
* can register
|
|
*/
|
|
rt_err_t rt_hw_can_register(struct rt_can_device *can,
|
|
const char *name,
|
|
const struct rt_can_ops *ops,
|
|
void *data)
|
|
{
|
|
struct rt_device *device;
|
|
RT_ASSERT(can != RT_NULL);
|
|
|
|
device = &(can->parent);
|
|
|
|
device->type = RT_Device_Class_CAN;
|
|
device->rx_indicate = RT_NULL;
|
|
device->tx_complete = RT_NULL;
|
|
#ifdef RT_CAN_USING_HDR
|
|
can->hdr = RT_NULL;
|
|
#endif
|
|
can->can_rx = RT_NULL;
|
|
can->can_tx = RT_NULL;
|
|
device->init = rt_can_init;
|
|
device->open = rt_can_open;
|
|
device->close = rt_can_close;
|
|
device->read = rt_can_read;
|
|
device->write = rt_can_write;
|
|
device->control = rt_can_control;
|
|
can->ops = ops;
|
|
|
|
can->status_indicate.ind = RT_NULL;
|
|
can->status_indicate.args = RT_NULL;
|
|
rt_memset(&can->status,0,sizeof(can->status));
|
|
|
|
device->user_data = data;
|
|
can->timerinitflag = 0;
|
|
if(can->config.rcvled != RT_NULL ||
|
|
can->config.sndled != RT_NULL ||
|
|
can->config.errled != RT_NULL)
|
|
{
|
|
rt_timer_init(&can->timer,
|
|
name,
|
|
cantimeout,
|
|
(void*)can,
|
|
can->config.ticks,
|
|
RT_TIMER_FLAG_PERIODIC);
|
|
}
|
|
/* register a character device */
|
|
return rt_device_register(device, name, RT_DEVICE_FLAG_RDWR);
|
|
}
|
|
|
|
/* ISR for can interrupt */
|
|
void rt_hw_can_isr(struct rt_can_device *can, int event)
|
|
{
|
|
switch (event & 0xff)
|
|
{
|
|
case RT_CAN_EVENT_RXOF_IND:
|
|
{
|
|
rt_base_t level;
|
|
level = rt_hw_interrupt_disable();
|
|
can->status.dropedrcvpkg++;
|
|
rt_hw_interrupt_enable(level);
|
|
}
|
|
case RT_CAN_EVENT_RX_IND:
|
|
{
|
|
struct rt_can_msg tmpmsg;
|
|
struct rt_can_rx_fifo* rx_fifo;
|
|
struct rt_can_msg_list* listmsg=RT_NULL;
|
|
#ifdef RT_CAN_USING_HDR
|
|
rt_int32_t hdr;
|
|
#endif
|
|
int ch = -1;
|
|
rt_base_t level;
|
|
rx_fifo = (struct rt_can_rx_fifo*)can->can_rx;
|
|
RT_ASSERT(rx_fifo != RT_NULL);
|
|
/* interrupt mode receive */
|
|
RT_ASSERT(can->parent.open_flag & RT_DEVICE_FLAG_INT_RX);
|
|
|
|
rt_uint32_t no;
|
|
no = event >> 8;
|
|
ch = can->ops->recvmsg(can,&tmpmsg,no);
|
|
if (ch == -1) break;
|
|
/* disable interrupt */
|
|
level = rt_hw_interrupt_disable();
|
|
can->status.rcvpkg++;
|
|
can->status.rcvchange = 1;
|
|
if(!rt_list_isempty(&rx_fifo->freelist))
|
|
{
|
|
listmsg = rt_list_entry(rx_fifo->freelist.next, struct rt_can_msg_list, list);
|
|
rt_list_remove(&listmsg->list);
|
|
#ifdef RT_CAN_USING_HDR
|
|
rt_list_remove(&listmsg->hdrlist);
|
|
if(listmsg->owner != RT_NULL && listmsg->owner->msgs) {
|
|
listmsg->owner->msgs--;
|
|
}
|
|
listmsg->owner = RT_NULL;
|
|
#endif /*RT_CAN_USING_HDR*/
|
|
RT_ASSERT(rx_fifo->freenumbers >0);
|
|
rx_fifo->freenumbers--;
|
|
} else if(!rt_list_isempty(&rx_fifo->uselist)) {
|
|
listmsg = rt_list_entry(rx_fifo->uselist.next, struct rt_can_msg_list, list);
|
|
can->status.dropedrcvpkg++;
|
|
rt_list_remove(&listmsg->list);
|
|
#ifdef RT_CAN_USING_HDR
|
|
rt_list_remove(&listmsg->hdrlist);
|
|
if(listmsg->owner != RT_NULL && listmsg->owner->msgs) {
|
|
listmsg->owner->msgs--;
|
|
}
|
|
listmsg->owner = RT_NULL;
|
|
#endif
|
|
}
|
|
/* enable interrupt */
|
|
rt_hw_interrupt_enable(level);
|
|
if(listmsg != RT_NULL) {
|
|
rt_memcpy(&listmsg->data,&tmpmsg,sizeof(struct rt_can_msg));
|
|
level = rt_hw_interrupt_disable();
|
|
rt_list_insert_before(&rx_fifo->uselist,&listmsg->list);
|
|
#ifdef RT_CAN_USING_HDR
|
|
hdr = tmpmsg.hdr;
|
|
if(can->hdr != RT_NULL) {
|
|
RT_ASSERT(hdr < can->config.maxhdr && hdr >= 0);
|
|
if(can->hdr[hdr].connected) {
|
|
rt_list_insert_before(&can->hdr[hdr].list,&listmsg->hdrlist);
|
|
listmsg->owner = &can->hdr[hdr];
|
|
can->hdr[hdr].msgs++;
|
|
}
|
|
|
|
}
|
|
#endif
|
|
rt_hw_interrupt_enable(level);
|
|
}
|
|
|
|
/* invoke callback */
|
|
#ifdef RT_CAN_USING_HDR
|
|
if(can->hdr != RT_NULL && can->hdr[hdr].connected && can->hdr[hdr].filter.ind) {
|
|
RT_ASSERT(hdr < can->config.maxhdr && hdr >= 0);
|
|
rt_size_t rx_length;
|
|
level = rt_hw_interrupt_disable();
|
|
rx_length = can->hdr[hdr].msgs * sizeof(struct rt_can_msg);
|
|
rt_hw_interrupt_enable(level);
|
|
can->hdr[hdr].filter.ind(&can->parent, can->hdr[hdr].filter.args, hdr, rx_length);
|
|
|
|
} else
|
|
#endif
|
|
if (can->parent.rx_indicate != RT_NULL) {
|
|
rt_size_t rx_length;
|
|
/* get rx length */
|
|
level = rt_hw_interrupt_disable();
|
|
rx_length = rx_fifo->freenumbers*sizeof(struct rt_can_msg);
|
|
rt_hw_interrupt_enable(level);
|
|
|
|
can->parent.rx_indicate(&can->parent, rx_length);
|
|
}
|
|
break;
|
|
}
|
|
case RT_CAN_EVENT_TX_DONE:
|
|
case RT_CAN_EVENT_TX_FAIL:
|
|
{
|
|
struct rt_can_tx_fifo* tx_fifo;
|
|
rt_uint32_t no;
|
|
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;
|
|
} else {
|
|
tx_fifo->buffer[no].result = RT_CAN__SND_RESUTL_ERR;
|
|
}
|
|
rt_completion_done(&(tx_fifo->buffer[no].completion));
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
#ifdef RT_USING_FINSH
|
|
#include <finsh.h>
|
|
int cmd_canstat(int argc,void** argv)
|
|
{
|
|
static const char* ErrCode[] = {
|
|
"No Error!",
|
|
"Warning !",
|
|
"Passive !",
|
|
"Bus Off !"
|
|
};
|
|
if(argc >= 2) {
|
|
rt_device_t candev = rt_device_find(argv[1]);
|
|
if(!candev) {
|
|
rt_kprintf(" Can't find can device %s\n",argv[1]);
|
|
return -1;
|
|
}
|
|
rt_kprintf(" Finded can device: %s...",argv[1]);
|
|
struct rt_can_status status;
|
|
rt_device_control(candev,RT_CAN_CMD_GET_STATUS,&status);
|
|
rt_kprintf("\n Receive...error..count: %010ld. Send.....error....count: %010ld.",
|
|
status.rcverrcnt,status.snderrcnt);
|
|
rt_kprintf("\n Bit..pad..error..count: %010ld. Format...error....count: %010ld",
|
|
status.bitpaderrcnt,status.formaterrcnt);
|
|
rt_kprintf("\n Ack.......error..count: %010ld. Bit......error....count: %010ld.",
|
|
status.ackerrcnt,status.biterrcnt);
|
|
rt_kprintf("\n CRC.......error..count: %010ld. Error.code.[%010ld]: ",
|
|
status.crcerrcnt,status.errcode);
|
|
switch(status.errcode) {
|
|
case 0:
|
|
rt_kprintf("%s.",ErrCode[0]);
|
|
break;
|
|
case 1:
|
|
rt_kprintf("%s.",ErrCode[1]);
|
|
break;
|
|
case 2:
|
|
case 3:
|
|
rt_kprintf("%s.",ErrCode[2]);
|
|
break;
|
|
case 4:
|
|
case 5:
|
|
case 6:
|
|
case 7:
|
|
rt_kprintf("%s.",ErrCode[3]);
|
|
break;
|
|
}
|
|
rt_kprintf("\n Total.receive.packages: %010ld. Droped.receive.packages: %010ld.",
|
|
status.rcvpkg,status.dropedrcvpkg);
|
|
rt_kprintf("\n Total..send...packages: %010ld. Droped...send..packages: %010ld.\n",
|
|
status.sndpkg + status.dropedsndpkg,status.dropedsndpkg);
|
|
} else {
|
|
rt_kprintf(" Invalid Call %s\n",argv[0]);
|
|
rt_kprintf(" Please using %s cannamex .Here canname is driver name and x is candrive number.\n",argv[0]);
|
|
}
|
|
return 0;
|
|
}
|
|
FINSH_FUNCTION_EXPORT_ALIAS(cmd_canstat, __cmd_canstat, Stat Can Device Status.);
|
|
#endif
|