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Merge pull request #514 from BernardXiong/master 

[DeviceDrivers] code cleanup for CAN driver and fix some critical issue
This commit is contained in:
Bernard Xiong 2015-07-07 11:30:28 +08:00
parent eb23f0def3 2ca3ceab70
commit 7de47e029b
2 changed files with 710 additions and 681 deletions
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441
components/drivers/can/can.c
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@ -3,18 +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 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;
@ -33,6 +48,7 @@ static rt_err_t rt_can_init(struct rt_device *dev)
return result;
}
/*
* can interrupt routines
*/
@ -52,32 +68,38 @@ rt_inline int _can_int_rx(struct rt_can_device *can, struct rt_can_msg *data, in
{
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;
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) {
if (can->hdr[hdr].msgs)
{
can->hdr[hdr].msgs--;
}
listmsg->owner = RT_NULL;
} else if(hdr == -1)
}
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) {
if (listmsg->owner != RT_NULL && listmsg->owner->msgs)
{
listmsg->owner->msgs--;
}
listmsg->owner = RT_NULL;
#endif
#endif /*RT_CAN_USING_HDR*/
}
else
{
@ -85,22 +107,28 @@ 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 {
}
else
{
break;
}
data ++; msgs -= sizeof(struct rt_can_msg);
data ++;
msgs -= sizeof(struct rt_can_msg);
}
return (size - msgs);
@ -121,44 +149,56 @@ rt_inline int _can_int_tx(struct rt_can_device *can, const struct rt_can_msg *da
{
rt_base_t level;
rt_uint32_t no;
rt_uint32_t result;
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 {
}
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);
level = rt_hw_interrupt_disable();
rt_uint32_t result = tx_tosnd->result;
if(!rt_list_isempty(&tx_tosnd->list)) {
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)
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);
data ++;
msgs -= sizeof(struct rt_can_msg);
if (!msgs) break;
}
else
@ -172,20 +212,19 @@ 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);
}
}
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;
rt_base_t level;
rt_uint32_t no, result;
struct rt_can_tx_fifo *tx_fifo;
RT_ASSERT(can != RT_NULL);
@ -194,36 +233,40 @@ rt_inline int _can_int_tx_priv(struct rt_can_device *can, const struct rt_can_ms
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) {
if (no >= can->config.sndboxnumber)
{
break;
}
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)
{
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)
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);
data ++;
msgs -= sizeof(struct rt_can_msg);
if (!msgs) break;
}
else
@ -237,6 +280,7 @@ rt_inline int _can_int_tx_priv(struct rt_can_device *can, const struct rt_can_ms
return (size - msgs);
}
static rt_err_t rt_can_open(struct rt_device *dev, rt_uint16_t oflag)
{
struct rt_can_device *can;
@ -244,24 +288,26 @@ 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;
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);
@ -271,96 +317,72 @@ 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 */
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)
{
int i = 0;
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;
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);
}
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) {
if (can->hdr == RT_NULL)
{
int i = 0;
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) {
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;
}
@ -371,35 +393,33 @@ 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;
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();
if (dev->ref_count > 1)
{
CAN_UNLOCK(can);
return RT_EOK;
}
rt_enter_critical();
if (can->timerinitflag)
{
can->timerinitflag = 0;
rt_timer_stop(&can->timer);
}
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) {
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;
@ -410,8 +430,9 @@ 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;
@ -424,7 +445,11 @@ 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;
}
@ -440,10 +465,11 @@ 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);
}
return 0;
}
@ -459,11 +485,14 @@ 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)
{
if(can->config.privmode) {
return _can_int_tx_priv(can, buffer, size);
} else {
}
else
{
return _can_int_tx(can, buffer, size);
}
}
@ -498,28 +527,34 @@ static rt_err_t rt_can_control(struct rt_device *dev,
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;
if ((rt_uint32_t)args != can->config.privmode)
{
int i;
rt_base_t level;
if(can->config.privmode) {
struct rt_can_tx_fifo *tx_fifo;
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)
{
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 {
}
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) {
if (tx_fifo->buffer[i].result == RT_CAN_SND_RESULT_OK)
{
rt_list_insert_before(&tx_fifo->freelist, &tx_fifo->buffer[i].list);
}
rt_hw_interrupt_enable(level);
@ -528,33 +563,43 @@ 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);
if(res != RT_EOK || can->hdr == RT_NULL) {
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) {
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) {
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;
@ -562,18 +607,25 @@ 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++;
}
} else {
while(count) {
if(pitem->hdr >= can->config.maxhdr || pitem->hdr < 0) {
}
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) {
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;
@ -591,6 +643,7 @@ 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)
@ -602,80 +655,20 @@ static rt_err_t rt_can_control(struct rt_device *dev,
return RT_EOK;
}
/*
* can timer
*/
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*/
if (can->timerinitflag == 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);
@ -703,6 +696,8 @@ 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;
@ -716,6 +711,7 @@ 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;
rt_timer_init(&can->timer,
name,
@ -749,15 +745,17 @@ void rt_hw_can_isr(struct rt_can_device *can, int event)
#endif
int ch = -1;
rt_base_t level;
rt_uint32_t no;
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++;
@ -768,20 +766,24 @@ void rt_hw_can_isr(struct rt_can_device *can, int event)
rt_list_remove(&listmsg->list);
#ifdef RT_CAN_USING_HDR
rt_list_remove(&listmsg->hdrlist);
if(listmsg->owner != RT_NULL && listmsg->owner->msgs) {
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)) {
}
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) {
if (listmsg->owner != RT_NULL && listmsg->owner->msgs)
{
listmsg->owner->msgs--;
}
listmsg->owner = RT_NULL;
@ -789,15 +791,19 @@ void rt_hw_can_isr(struct rt_can_device *can, int event)
}
/* enable interrupt */
rt_hw_interrupt_enable(level);
if(listmsg != RT_NULL) {
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) {
if (can->hdr != RT_NULL)
{
RT_ASSERT(hdr < can->config.maxhdr && hdr >= 0);
if(can->hdr[hdr].connected) {
if (can->hdr[hdr].connected)
{
rt_list_insert_before(&can->hdr[hdr].list, &listmsg->hdrlist);
listmsg->owner = &can->hdr[hdr];
can->hdr[hdr].msgs++;
@ -810,27 +816,34 @@ void rt_hw_can_isr(struct rt_can_device *can, int event)
/* 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);
if (can->hdr != RT_NULL && can->hdr[hdr].connected && can->hdr[hdr].filter.ind)
{
rt_size_t rx_length;
RT_ASSERT(hdr < can->config.maxhdr && hdr >= 0);
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
}
else
#endif
if (can->parent.rx_indicate != RT_NULL) {
{
if (can->parent.rx_indicate != RT_NULL)
{
rt_size_t rx_length;
/* get rx length */
level = rt_hw_interrupt_disable();
/* get rx length */
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:
{
@ -839,34 +852,44 @@ 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;
} else {
tx_fifo->buffer[no].result = RT_CAN__SND_RESUTL_ERR;
if ((event & 0xff) == RT_CAN_EVENT_TX_DONE)
{
tx_fifo->buffer[no].result = RT_CAN_SND_RESULT_OK;
}
else
{
tx_fifo->buffer[no].result = RT_CAN_SND_RESULT_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[] = {
static const char *ErrCode[] =
{
"No Error!",
"Warning !",
"Passive !",
"Bus Off !"
};
if(argc >= 2) {
if (argc >= 2)
{
struct rt_can_status status;
rt_device_t candev = rt_device_find(argv[1]);
if(!candev) {
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);
@ -876,7 +899,8 @@ int cmd_canstat(int argc,void** argv)
status.ackerrcnt, status.biterrcnt);
rt_kprintf("\n CRC.......error..count: %010ld. Error.code.[%010ld]: ",
status.crcerrcnt, status.errcode);
switch(status.errcode) {
switch (status.errcode)
{
case 0:
rt_kprintf("%s.", ErrCode[0]);
break;
@ -898,7 +922,9 @@ int cmd_canstat(int argc,void** argv)
status.rcvpkg, status.dropedrcvpkg);
rt_kprintf("\n Total..send...packages: %010ld. Droped...send..packages: %010ld.\n",
status.sndpkg + status.dropedsndpkg, status.dropedsndpkg);
} else {
}
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]);
}
@ -906,3 +932,4 @@ int cmd_canstat(int argc,void** argv)
}
FINSH_FUNCTION_EXPORT_ALIAS(cmd_canstat, __cmd_canstat, Stat Can Device Status.);
#endif

102
components/drivers/include/drivers/can.h
View File

@ -3,14 +3,26 @@
* 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 remove RT_CAN_USING_LED.
*/
#ifndef CAN_H_
#define CAN_H_
@ -25,16 +37,17 @@
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
@ -43,15 +56,6 @@ enum CANBAUD
#define RT_CAN_MODE_PRIV 0x01
#define RT_CAN_MODE_NOPRIV 0x00
#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*/
struct rt_can_filter_item
{
rt_uint32_t id : 29;
@ -65,18 +69,10 @@ struct rt_can_filter_item
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) \
@ -119,6 +109,7 @@ struct rt_can_filter_config
rt_uint32_t actived;
struct rt_can_filter_item *items;
};
struct can_configure
{
rt_uint32_t baud_rate;
@ -127,11 +118,6 @@ struct can_configure
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;
#ifdef RT_CAN_USING_HDR
rt_uint32_t maxhdr;
@ -173,6 +159,7 @@ enum RT_CAN_BUS_ERR
RT_CAN_BUS_EXPLICIT_BIT_ERR = 5,
RT_CAN_BUS_CRC_ERR = 6,
};
struct rt_can_status
{
rt_uint32_t rcverrcnt;
@ -191,8 +178,10 @@ struct rt_can_status
rt_uint32_t sndchange;
rt_uint32_t lasterrtype;
};
#ifdef RT_CAN_USING_HDR
struct rt_can_hdr {
struct rt_can_hdr
{
rt_uint32_t connected;
rt_uint32_t msgs;
struct rt_can_filter_item filter;
@ -206,6 +195,7 @@ typedef struct rt_can_status_ind_type
rt_canstatus_ind ind;
void *args;
} *rt_can_status_ind_type_t;
struct rt_can_device
{
struct rt_device parent;
@ -213,12 +203,16 @@ struct rt_can_device
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;
#endif
struct rt_mutex lock;
void *can_rx;
void *can_tx;
};
@ -243,7 +237,9 @@ struct rt_can_msg
rt_uint8_t data[8];
};
typedef struct rt_can_msg *rt_can_msg_t;
struct rt_can_msg_list {
struct rt_can_msg_list
{
struct rt_list_node list;
#ifdef RT_CAN_USING_HDR
struct rt_list_node hdrlist;
@ -251,6 +247,7 @@ struct rt_can_msg_list {
#endif
struct rt_can_msg data;
};
struct rt_can_rx_fifo
{
/* software fifo */
@ -260,9 +257,9 @@ struct rt_can_rx_fifo
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 */
@ -270,17 +267,20 @@ struct rt_can_rx_fifo
#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_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_ops
{
rt_err_t (*configure)(struct rt_can_device *can, struct can_configure *cfg);
@ -288,9 +288,11 @@ struct rt_can_ops
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);
void rt_hw_can_isr(struct rt_can_device *can, int event);
#endif /*_CAN_H*/