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[DeviceDrivers] Use mutex to lock can_open/close

This commit is contained in:
BernardXiong 2015-07-06 18:11:46 +08:00
parent 1488568801
commit 91d866d81a
2 changed files with 250 additions and 362 deletions
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280
components/drivers/can/can.c
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@ -3,20 +3,33 @@
* This file is part of RT-Thread RTOS * This file is part of RT-Thread RTOS
* COPYRIGHT (C) 2015, RT-Thread Development Team * COPYRIGHT (C) 2015, RT-Thread Development Team
* *
* The license and distribution terms for this file may be * This program is free software; you can redistribute it and/or modify
* found in the file LICENSE in this distribution or at * it under the terms of the GNU General Public License as published by
* http://www.rt-thread.org/license/LICENSE * 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: * Change Logs:
* Date Author Notes * Date Author Notes
* 2015-05-14 aubrcool@qq.com first version * 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 <rthw.h>
#include <rtthread.h> #include <rtthread.h>
#include <rtdevice.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) static rt_err_t rt_can_init(struct rt_device *dev)
{ {
rt_err_t result = RT_EOK; 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) while (msgs)
{ {
rt_base_t level; rt_base_t level;
rt_int32_t hdr;
struct rt_can_msg_list *listmsg = RT_NULL; struct rt_can_msg_list *listmsg = RT_NULL;
/* disable interrupt */ /* 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) else if (hdr == -1)
#endif /*RT_CAN_USING_HDR*/ #endif /*RT_CAN_USING_HDR*/
{
if (!rt_list_isempty(&rx_fifo->uselist)) if (!rt_list_isempty(&rx_fifo->uselist))
{ {
listmsg = rt_list_entry(rx_fifo->uselist.next, struct rt_can_msg_list, list); 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->msgs--;
} }
listmsg->owner = RT_NULL; listmsg->owner = RT_NULL;
#endif #endif /*RT_CAN_USING_HDR*/
} }
else 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); rt_hw_interrupt_enable(level);
break; break;
} }
}
/* enable interrupt */ /* enable interrupt */
rt_hw_interrupt_enable(level); rt_hw_interrupt_enable(level);
if (listmsg != RT_NULL) if (listmsg != RT_NULL)
{ {
rt_memcpy(data, &listmsg->data, sizeof(struct rt_can_msg)); rt_memcpy(data, &listmsg->data, sizeof(struct rt_can_msg));
level = rt_hw_interrupt_disable(); level = rt_hw_interrupt_disable();
rt_list_insert_before(&rx_fifo->freelist, &listmsg->list); rt_list_insert_before(&rx_fifo->freelist, &listmsg->list);
rx_fifo->freenumbers++; rx_fifo->freenumbers++;
RT_ASSERT(rx_fifo->freenumbers <= can->config.msgboxsz); RT_ASSERT(rx_fifo->freenumbers <= can->config.msgboxsz);
rt_hw_interrupt_enable(level); rt_hw_interrupt_enable(level);
listmsg = RT_NULL; listmsg = RT_NULL;
} }
else else
@ -146,20 +162,23 @@ rt_inline int _can_int_tx(struct rt_can_device *can, const struct rt_can_msg *da
else else
{ {
rt_hw_interrupt_enable(level); rt_hw_interrupt_enable(level);
rt_completion_wait(&(tx_fifo->completion), RT_WAITING_FOREVER); rt_completion_wait(&(tx_fifo->completion), RT_WAITING_FOREVER);
continue; continue;
} }
rt_hw_interrupt_enable(level); rt_hw_interrupt_enable(level);
no = ((rt_uint32_t)tx_tosnd - (rt_uint32_t)tx_fifo->buffer) / sizeof(struct rt_can_sndbxinx_list); 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; tx_tosnd->result = RT_CAN_SND_RESULT_WAIT;
if (can->ops->sendmsg(can, data , no)) if (can->ops->sendmsg(can, data, no) != RT_EOK)
{ {
/* send failed. */
level = rt_hw_interrupt_disable(); level = rt_hw_interrupt_disable();
rt_list_insert_after(&tx_fifo->freelist, &tx_tosnd->list); rt_list_insert_after(&tx_fifo->freelist, &tx_tosnd->list);
rt_hw_interrupt_enable(level); rt_hw_interrupt_enable(level);
continue; continue;
} }
can->status.sndchange = 1; can->status.sndchange = 1;
rt_completion_wait(&(tx_tosnd->completion), RT_WAITING_FOREVER); 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_list_insert_before(&tx_fifo->freelist, &tx_tosnd->list);
rt_hw_interrupt_enable(level); rt_hw_interrupt_enable(level);
if (result == RT_CAN__SND_RESUTL_OK) if (result == RT_CAN_SND_RESULT_OK)
{ {
level = rt_hw_interrupt_disable(); level = rt_hw_interrupt_disable();
can->status.sndpkg++; can->status.sndpkg++;
rt_hw_interrupt_enable(level); rt_hw_interrupt_enable(level);
data ++; data ++;
msgs -= sizeof(struct rt_can_msg); msgs -= sizeof(struct rt_can_msg);
if (!msgs) break; 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(); level = rt_hw_interrupt_disable();
if (rt_list_isempty(&tx_fifo->freelist)) if (rt_list_isempty(&tx_fifo->freelist))
{ {
rt_hw_interrupt_enable(level);
rt_completion_done(&(tx_fifo->completion)); rt_completion_done(&(tx_fifo->completion));
} }
else rt_hw_interrupt_enable(level);
{
rt_hw_interrupt_enable(level);
}
} }
return (size - msgs); 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(); 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_hw_interrupt_enable(level);
rt_completion_wait(&(tx_fifo->buffer[no].completion), RT_WAITING_FOREVER); rt_completion_wait(&(tx_fifo->buffer[no].completion), RT_WAITING_FOREVER);
continue; 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); rt_hw_interrupt_enable(level);
if (can->ops->sendmsg(can, data , no) != RT_EOK) if (can->ops->sendmsg(can, data, no) != RT_EOK)
{ {
continue; 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); rt_completion_wait(&(tx_fifo->buffer[no].completion), RT_WAITING_FOREVER);
result = tx_fifo->buffer[no].result; 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(); level = rt_hw_interrupt_disable();
can->status.sndpkg++; 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); RT_ASSERT(dev != RT_NULL);
can = (struct rt_can_device *)dev; can = (struct rt_can_device *)dev;
CAN_LOCK(can);
/* get open flags */ /* get open flags */
dev->open_flag = oflag & 0xff; dev->open_flag = oflag & 0xff;
rt_enter_critical();
if (can->can_rx == RT_NULL) if (can->can_rx == RT_NULL)
{ {
if (oflag & RT_DEVICE_FLAG_INT_RX) if (oflag & RT_DEVICE_FLAG_INT_RX)
{ {
int i=0; int i = 0;
struct rt_can_rx_fifo *rx_fifo; struct rt_can_rx_fifo *rx_fifo;
rx_fifo = (struct rt_can_rx_fifo *) rt_malloc(sizeof(struct rt_can_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)); can->config.msgboxsz * sizeof(struct rt_can_msg_list));
RT_ASSERT(rx_fifo != RT_NULL); RT_ASSERT(rx_fifo != RT_NULL);
rx_fifo->buffer = (struct rt_can_msg_list *)(rx_fifo + 1); 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_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->freelist);
@ -298,7 +317,6 @@ static rt_err_t rt_can_open(struct rt_device *dev, rt_uint16_t oflag)
#endif #endif
} }
can->can_rx = rx_fifo; can->can_rx = rx_fifo;
rt_exit_critical();
dev->open_flag |= RT_DEVICE_FLAG_INT_RX; dev->open_flag |= RT_DEVICE_FLAG_INT_RX;
/* configure low level device */ /* configure low level device */
@ -307,15 +325,9 @@ static rt_err_t rt_can_open(struct rt_device *dev, rt_uint16_t oflag)
else else
{ {
can->can_rx = RT_NULL; can->can_rx = RT_NULL;
rt_exit_critical();
} }
} }
else
{
rt_exit_critical();
}
rt_enter_critical();
if (can->can_tx == RT_NULL) if (can->can_tx == RT_NULL)
{ {
if (oflag & RT_DEVICE_FLAG_INT_TX) 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) + tx_fifo = (struct rt_can_tx_fifo *) rt_malloc(sizeof(struct rt_can_tx_fifo) +
can->config.sndboxnumber * sizeof(struct rt_can_sndbxinx_list)); can->config.sndboxnumber * sizeof(struct rt_can_sndbxinx_list));
RT_ASSERT(tx_fifo != RT_NULL); RT_ASSERT(tx_fifo != RT_NULL);
tx_fifo->buffer = (struct rt_can_sndbxinx_list *)(tx_fifo + 1); tx_fifo->buffer = (struct rt_can_sndbxinx_list *)(tx_fifo + 1);
rt_memset(tx_fifo->buffer, 0, rt_memset(tx_fifo->buffer, 0,
can->config.sndboxnumber * sizeof(struct rt_can_sndbxinx_list)); 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_list_insert_before(&tx_fifo->freelist, &tx_fifo->buffer[i].list);
rt_completion_init(&(tx_fifo->buffer[i].completion)); 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)); rt_completion_init(&(tx_fifo->completion));
can->can_tx = tx_fifo; can->can_tx = tx_fifo;
rt_exit_critical();
dev->open_flag |= RT_DEVICE_FLAG_INT_TX; dev->open_flag |= RT_DEVICE_FLAG_INT_TX;
/* configure low level device */ /* configure low level device */
can->ops->control(can, RT_DEVICE_CTRL_SET_INT, (void *)RT_DEVICE_FLAG_INT_TX); 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 else
{ {
can->can_tx = RT_NULL; 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); can->ops->control(can, RT_DEVICE_CTRL_SET_INT, (void *)RT_DEVICE_CAN_INT_ERR);
#ifdef RT_CAN_USING_HDR #ifdef RT_CAN_USING_HDR
rt_enter_critical();
if (can->hdr == RT_NULL) if (can->hdr == RT_NULL)
{ {
int i = 0; int i = 0;
struct rt_can_hdr *phdr; 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)); phdr = (struct rt_can_hdr *) rt_malloc(can->config.maxhdr * sizeof(struct rt_can_hdr));
RT_ASSERT(phdr != RT_NULL); RT_ASSERT(phdr != RT_NULL);
rt_memset(phdr, 0, can->config.maxhdr * sizeof(struct rt_can_hdr)); 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_list_init(&phdr[i].list);
} }
rt_enter_critical();
can->hdr = phdr; can->hdr = phdr;
rt_exit_critical();
}
else
{
rt_exit_critical();
} }
#endif #endif
rt_enter_critical();
if (!can->timerinitflag) if (!can->timerinitflag)
{ {
can->timerinitflag = 1; 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); rt_timer_start(&can->timer);
} }
else
{ CAN_UNLOCK(can);
rt_exit_critical();
}
return RT_EOK; return RT_EOK;
} }
@ -423,48 +401,33 @@ static rt_err_t rt_can_close(struct rt_device *dev)
RT_ASSERT(dev != RT_NULL); RT_ASSERT(dev != RT_NULL);
can = (struct rt_can_device *)dev; can = (struct rt_can_device *)dev;
/* this device has more reference count */ CAN_LOCK(can);
if (dev->ref_count > 1) return RT_EOK;
/* this device has more reference count */
if (dev->ref_count > 1)
{
CAN_UNLOCK(can);
return RT_EOK;
}
rt_enter_critical();
if (can->timerinitflag) if (can->timerinitflag)
{ {
can->timerinitflag = 0; can->timerinitflag = 0;
rt_exit_critical();
rt_timer_stop(&can->timer); 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.ind = RT_NULL;
can->status_indicate.args = RT_NULL; can->status_indicate.args = RT_NULL;
rt_exit_critical();
#ifdef RT_CAN_USING_HDR #ifdef RT_CAN_USING_HDR
rt_enter_critical();
if (can->hdr != RT_NULL) if (can->hdr != RT_NULL)
{ {
struct rt_can_hdr *hdr; rt_free(can->hdr);
hdr = can->hdr;
can->hdr = RT_NULL; can->hdr = RT_NULL;
rt_exit_critical();
rt_free(hdr);
}
else
{
rt_exit_critical();
} }
#endif #endif
if (dev->open_flag & RT_DEVICE_FLAG_INT_RX) if (dev->open_flag & RT_DEVICE_FLAG_INT_RX)
{ {
struct rt_can_rx_fifo *rx_fifo; 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); rt_free(rx_fifo);
dev->open_flag &= ~RT_DEVICE_FLAG_INT_RX; dev->open_flag &= ~RT_DEVICE_FLAG_INT_RX;
/* configure low level device */ /* 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) if (dev->open_flag & RT_DEVICE_FLAG_INT_TX)
{ {
struct rt_can_tx_fifo *tx_fifo; 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 */ /* 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_TX);
} }
can->ops->control(can, RT_DEVICE_CTRL_CLR_INT, (void *)RT_DEVICE_CAN_INT_ERR); can->ops->control(can, RT_DEVICE_CTRL_CLR_INT, (void *)RT_DEVICE_CAN_INT_ERR);
CAN_UNLOCK(can);
return RT_EOK; return RT_EOK;
} }
@ -505,7 +473,7 @@ static rt_size_t rt_can_read(struct rt_device *dev,
can = (struct rt_can_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 _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; 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)
{ {
@ -573,10 +541,8 @@ static rt_err_t rt_can_control(struct rt_device *dev,
rt_base_t level; rt_base_t level;
struct rt_can_tx_fifo *tx_fifo; struct rt_can_tx_fifo *tx_fifo;
if (res = can->ops->control(can, cmd, args) != RT_EOK) res = can->ops->control(can, cmd, args);
{ if (res != RT_EOK) return res;
return res;
}
tx_fifo = (struct rt_can_tx_fifo *) can->can_tx; tx_fifo = (struct rt_can_tx_fifo *) can->can_tx;
if (can->config.privmode) 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++) for (i = 0; i < can->config.sndboxnumber; i++)
{ {
level = rt_hw_interrupt_disable(); 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_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; return RT_EOK;
} }
break; break;
case RT_CAN_CMD_SET_STATUS_IND: case RT_CAN_CMD_SET_STATUS_IND:
can->status_indicate.ind = ((rt_can_status_ind_type_t)args)->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; can->status_indicate.args = ((rt_can_status_ind_type_t)args)->args;
break; break;
#ifdef RT_CAN_USING_HDR #ifdef RT_CAN_USING_HDR
case RT_CAN_CMD_SET_FILTER: case RT_CAN_CMD_SET_FILTER:
res = can->ops->control(can, cmd, args); res = can->ops->control(can, cmd, args);
@ -636,8 +604,8 @@ static rt_err_t rt_can_control(struct rt_device *dev,
pitem++; pitem++;
continue; continue;
} }
level = rt_hw_interrupt_disable();
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, 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_list_init(&can->hdr[pitem->hdr].list);
} }
rt_hw_interrupt_enable(level); rt_hw_interrupt_enable(level);
count--; count--;
pitem++; pitem++;
} }
@ -682,6 +651,7 @@ static rt_err_t rt_can_control(struct rt_device *dev,
} }
break; break;
#endif /*RT_CAN_USING_HDR*/ #endif /*RT_CAN_USING_HDR*/
default : default :
/* control device */ /* control device */
if (can->ops->control != RT_NULL) 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) 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_can_t can = (rt_can_t)arg;
rt_device_control((rt_device_t)can, RT_CAN_CMD_GET_STATUS, (void *)&can->status); rt_device_control((rt_device_t)can, RT_CAN_CMD_GET_STATUS, (void *)&can->status);
if (can->timerinitflag == 1) if (can->timerinitflag == 1)
{ {
#ifdef RT_CAN_USING_LED
ledonflag = 1;
#endif /*RT_CAN_USING_LED*/
can->timerinitflag = 0xFF; 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) if (can->status_indicate.ind != RT_NULL)
{ {
can->status_indicate.ind(can, can->status_indicate.args); 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 #endif
can->can_rx = RT_NULL; can->can_rx = RT_NULL;
can->can_tx = RT_NULL; can->can_tx = RT_NULL;
rt_mutex_init(&(can->lock), "can", RT_IPC_FLAG_PRIO);
device->init = rt_can_init; device->init = rt_can_init;
device->open = rt_can_open; device->open = rt_can_open;
device->close = rt_can_close; 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)); rt_memset(&can->status, 0, sizeof(can->status));
device->user_data = data; device->user_data = data;
can->timerinitflag = 0;
can->timerinitflag = 0;
rt_timer_init(&can->timer, rt_timer_init(&can->timer,
name, name,
cantimeout, cantimeout,
@ -954,6 +836,7 @@ void rt_hw_can_isr(struct rt_can_device *can, int event)
} }
else else
#endif #endif
{
if (can->parent.rx_indicate != RT_NULL) if (can->parent.rx_indicate != RT_NULL)
{ {
rt_size_t rx_length; 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); can->parent.rx_indicate(&can->parent, rx_length);
} }
}
break; break;
} }
@ -976,13 +860,14 @@ void rt_hw_can_isr(struct rt_can_device *can, int event)
no = event >> 8; no = event >> 8;
tx_fifo = (struct rt_can_tx_fifo *) can->can_tx; tx_fifo = (struct rt_can_tx_fifo *) can->can_tx;
RT_ASSERT(tx_fifo != RT_NULL); RT_ASSERT(tx_fifo != RT_NULL);
if ((event & 0xff) == RT_CAN_EVENT_TX_DONE) 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 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)); rt_completion_done(&(tx_fifo->buffer[no].completion));
break; break;
@ -1055,3 +940,4 @@ int cmd_canstat(int argc, void **argv)
} }
FINSH_FUNCTION_EXPORT_ALIAS(cmd_canstat, __cmd_canstat, Stat Can Device Status.); FINSH_FUNCTION_EXPORT_ALIAS(cmd_canstat, __cmd_canstat, Stat Can Device Status.);
#endif #endif

332
components/drivers/include/drivers/can.h
View File

@ -3,80 +3,76 @@
* This file is part of RT-Thread RTOS * This file is part of RT-Thread RTOS
* COPYRIGHT (C) 2015, RT-Thread Development Team * COPYRIGHT (C) 2015, RT-Thread Development Team
* *
* The license and distribution terms for this file may be * This program is free software; you can redistribute it and/or modify
* found in the file LICENSE in this distribution or at * it under the terms of the GNU General Public License as published by
* http://www.rt-thread.org/license/LICENSE * 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: * Change Logs:
* Date Author Notes * Date Author Notes
* 2015-05-14 aubrcool@qq.com first version * 2015-05-14 aubrcool@qq.com first version
* 2015-07-06 Bernard remove RT_CAN_USING_LED.
*/ */
#ifndef CAN_H_ #ifndef CAN_H_
#define CAN_H_ #define CAN_H_
#include <rtthread.h> #include <rtthread.h>
#ifndef RT_CANMSG_BOX_SZ #ifndef RT_CANMSG_BOX_SZ
#define RT_CANMSG_BOX_SZ 16 #define RT_CANMSG_BOX_SZ 16
#endif #endif
#ifndef RT_CANSND_BOX_NUM #ifndef RT_CANSND_BOX_NUM
#define RT_CANSND_BOX_NUM 1 #define RT_CANSND_BOX_NUM 1
#endif #endif
enum CANBAUD enum CANBAUD
{ {
CAN1MBaud=0, // 1 MBit/sec CAN1MBaud = 0, /* 1 MBit/sec */
CAN800kBaud, // 800 kBit/sec CAN800kBaud, /* 800 kBit/sec */
CAN500kBaud, // 500 kBit/sec CAN500kBaud, /* 500 kBit/sec */
CAN250kBaud, // 250 kBit/sec CAN250kBaud, /* 250 kBit/sec */
CAN125kBaud, // 125 kBit/sec CAN125kBaud, /* 125 kBit/sec */
CAN100kBaud, // 100 kBit/sec CAN100kBaud, /* 100 kBit/sec */
CAN50kBaud, // 50 kBit/sec CAN50kBaud, /* 50 kBit/sec */
CAN20kBaud, // 20 kBit/sec CAN20kBaud, /* 20 kBit/sec */
CAN10kBaud // 10 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_NORMAL 0
#define RT_CAN_MODE_NOPRIV 0x00 #define RT_CAN_MODE_LISEN 1
#define RT_CAN_MODE_LOOPBACK 2
#define RT_CAN_MODE_LOOPBACKANLISEN 3
#ifdef RT_CAN_USING_LED #define RT_CAN_MODE_PRIV 0x01
struct rt_can_led #define RT_CAN_MODE_NOPRIV 0x00
{
rt_uint32_t pin,mode,init;
struct rt_timer* timer;
const char* timer_name;
};
#endif /*RT_CAN_USING_LED*/
struct rt_can_filter_item struct rt_can_filter_item
{ {
rt_uint32_t id :29; rt_uint32_t id : 29;
rt_uint32_t ide :1; rt_uint32_t ide : 1;
rt_uint32_t rtr :1; rt_uint32_t rtr : 1;
rt_uint32_t mode :1; rt_uint32_t mode : 1;
rt_uint32_t mask; rt_uint32_t mask;
rt_int32_t hdr; rt_int32_t hdr;
#ifdef RT_CAN_USING_HDR #ifdef RT_CAN_USING_HDR
rt_err_t (*ind)(rt_device_t dev, void* args ,rt_int32_t hdr, rt_size_t size); rt_err_t (*ind)(rt_device_t dev, void *args , rt_int32_t hdr, rt_size_t size);
void* args; void *args;
#endif /*RT_CAN_USING_HDR*/ #endif /*RT_CAN_USING_HDR*/
}; };
#ifdef RT_CAN_USING_HDR #ifdef RT_CAN_USING_HDR
#define RT_CAN_FILTER_ITEM_INIT(id,ide,rtr,mode,mask,ind,args) \ #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) \ #define RT_CAN_FILTER_STD_INIT(id,ind,args) \
RT_CAN_FILTER_ITEM_INIT(id,0,0,0,0xFFFFFFFF,ind,args) RT_CAN_FILTER_ITEM_INIT(id,0,0,0,0xFFFFFFFF,ind,args)
#define RT_CAN_FILTER_EXT_INIT(id,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) \ #define RT_CAN_EXT_RMT_DATA_FILTER_INIT(id,ind,args) \
RT_CAN_FILTER_ITEM_INIT(id,1,0,1,0xFFFFFFFF,ind,args) RT_CAN_FILTER_ITEM_INIT(id,1,0,1,0xFFFFFFFF,ind,args)
#else #else
#define RT_CAN_FILTER_ITEM_INIT(id,ide,rtr,mode,mask) \ #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) \ #define RT_CAN_FILTER_STD_INIT(id) \
RT_CAN_FILTER_ITEM_INIT(id,0,0,0,0xFFFFFFFF) RT_CAN_FILTER_ITEM_INIT(id,0,0,0,0xFFFFFFFF)
#define RT_CAN_FILTER_EXT_INIT(id) \ #define RT_CAN_FILTER_EXT_INIT(id) \
@ -115,26 +105,22 @@ struct rt_can_filter_item
struct rt_can_filter_config struct rt_can_filter_config
{ {
rt_uint32_t count; rt_uint32_t count;
rt_uint32_t actived; rt_uint32_t actived;
struct rt_can_filter_item* items; struct rt_can_filter_item *items;
}; };
struct can_configure struct can_configure
{ {
rt_uint32_t baud_rate; rt_uint32_t baud_rate;
rt_uint32_t msgboxsz; rt_uint32_t msgboxsz;
rt_uint32_t sndboxnumber; rt_uint32_t sndboxnumber;
rt_uint32_t mode :8; rt_uint32_t mode : 8;
rt_uint32_t privmode :8; rt_uint32_t privmode : 8;
rt_uint32_t reserved :16; rt_uint32_t reserved : 16;
#ifdef RT_CAN_USING_LED rt_uint32_t ticks;
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 #ifdef RT_CAN_USING_HDR
rt_uint32_t maxhdr; rt_uint32_t maxhdr;
#endif #endif
}; };
@ -147,80 +133,88 @@ struct can_configure
}; };
struct rt_can_ops; struct rt_can_ops;
#define RT_CAN_CMD_SET_FILTER 0x13 #define RT_CAN_CMD_SET_FILTER 0x13
#define RT_CAN_CMD_SET_BAUD 0x14 #define RT_CAN_CMD_SET_BAUD 0x14
#define RT_CAN_CMD_SET_MODE 0x15 #define RT_CAN_CMD_SET_MODE 0x15
#define RT_CAN_CMD_SET_PRIV 0x16 #define RT_CAN_CMD_SET_PRIV 0x16
#define RT_CAN_CMD_GET_STATUS 0x17 #define RT_CAN_CMD_GET_STATUS 0x17
#define RT_CAN_CMD_SET_STATUS_IND 0x18 #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 enum RT_CAN_STATUS_MODE
{ {
NORMAL = 0, NORMAL = 0,
ERRWARNING = 1, ERRWARNING = 1,
ERRPASSIVE = 2, ERRPASSIVE = 2,
BUSOFF = 4, BUSOFF = 4,
}; };
enum RT_CAN_BUS_ERR enum RT_CAN_BUS_ERR
{ {
RT_CAN_BUS_NO_ERR = 0, RT_CAN_BUS_NO_ERR = 0,
RT_CAN_BUS_BIT_PAD_ERR = 1, RT_CAN_BUS_BIT_PAD_ERR = 1,
RT_CAN_BUS_FORMAT_ERR = 2, RT_CAN_BUS_FORMAT_ERR = 2,
RT_CAN_BUS_ACK_ERR = 3, RT_CAN_BUS_ACK_ERR = 3,
RT_CAN_BUS_IMPLICIT_BIT_ERR = 4, RT_CAN_BUS_IMPLICIT_BIT_ERR = 4,
RT_CAN_BUS_EXPLICIT_BIT_ERR = 5, RT_CAN_BUS_EXPLICIT_BIT_ERR = 5,
RT_CAN_BUS_CRC_ERR = 6, RT_CAN_BUS_CRC_ERR = 6,
}; };
struct rt_can_status struct rt_can_status
{ {
rt_uint32_t rcverrcnt; rt_uint32_t rcverrcnt;
rt_uint32_t snderrcnt; rt_uint32_t snderrcnt;
rt_uint32_t errcode; rt_uint32_t errcode;
rt_uint32_t rcvpkg; rt_uint32_t rcvpkg;
rt_uint32_t dropedrcvpkg; rt_uint32_t dropedrcvpkg;
rt_uint32_t sndpkg; rt_uint32_t sndpkg;
rt_uint32_t dropedsndpkg; rt_uint32_t dropedsndpkg;
rt_uint32_t bitpaderrcnt; rt_uint32_t bitpaderrcnt;
rt_uint32_t formaterrcnt; rt_uint32_t formaterrcnt;
rt_uint32_t ackerrcnt; rt_uint32_t ackerrcnt;
rt_uint32_t biterrcnt; rt_uint32_t biterrcnt;
rt_uint32_t crcerrcnt; rt_uint32_t crcerrcnt;
rt_uint32_t rcvchange; rt_uint32_t rcvchange;
rt_uint32_t sndchange; rt_uint32_t sndchange;
rt_uint32_t lasterrtype; rt_uint32_t lasterrtype;
}; };
#ifdef RT_CAN_USING_HDR #ifdef RT_CAN_USING_HDR
struct rt_can_hdr { struct rt_can_hdr
rt_uint32_t connected; {
rt_uint32_t msgs; rt_uint32_t connected;
struct rt_can_filter_item filter; rt_uint32_t msgs;
struct rt_list_node list; struct rt_can_filter_item filter;
struct rt_list_node list;
}; };
#endif #endif
struct rt_can_device; 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 typedef struct rt_can_status_ind_type
{ {
rt_canstatus_ind ind; rt_canstatus_ind ind;
void* args; void *args;
} *rt_can_status_ind_type_t; } *rt_can_status_ind_type_t;
struct rt_can_device struct rt_can_device
{ {
struct rt_device parent; struct rt_device parent;
const struct rt_can_ops *ops; const struct rt_can_ops *ops;
struct can_configure config; struct can_configure config;
struct rt_can_status status; struct rt_can_status status;
rt_uint32_t timerinitflag;
struct rt_timer timer; rt_uint32_t timerinitflag;
struct rt_can_status_ind_type status_indicate; struct rt_timer timer;
struct rt_can_status_ind_type status_indicate;
#ifdef RT_CAN_USING_HDR #ifdef RT_CAN_USING_HDR
struct rt_can_hdr* hdr; struct rt_can_hdr *hdr;
#endif #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; 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_DTR 0
#define RT_CAN_RTR 1 #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 struct rt_can_msg
{ {
rt_uint32_t id :29; rt_uint32_t id : 29;
rt_uint32_t ide :1; rt_uint32_t ide : 1;
rt_uint32_t rtr :1; rt_uint32_t rtr : 1;
rt_uint32_t rsv :1; rt_uint32_t rsv : 1;
rt_uint32_t len :8; rt_uint32_t len : 8;
rt_uint32_t priv :8; rt_uint32_t priv : 8;
rt_uint32_t hdr :8; rt_uint32_t hdr : 8;
rt_uint32_t reserved :8; rt_uint32_t reserved : 8;
rt_uint8_t data[8]; rt_uint8_t data[8];
}; };
typedef struct rt_can_msg* rt_can_msg_t; typedef struct rt_can_msg *rt_can_msg_t;
struct rt_can_msg_list {
struct rt_list_node list; struct rt_can_msg_list
{
struct rt_list_node list;
#ifdef RT_CAN_USING_HDR #ifdef RT_CAN_USING_HDR
struct rt_list_node hdrlist; struct rt_list_node hdrlist;
struct rt_can_hdr* owner; struct rt_can_hdr *owner;
#endif #endif
struct rt_can_msg data; struct rt_can_msg data;
}; };
struct rt_can_rx_fifo struct rt_can_rx_fifo
{ {
/* software fifo */ /* software fifo */
struct rt_can_msg_list *buffer; struct rt_can_msg_list *buffer;
rt_uint32_t freenumbers; rt_uint32_t freenumbers;
struct rt_list_node freelist; struct rt_list_node freelist;
struct rt_list_node uselist; struct rt_list_node uselist;
}; };
#define RT_CAN__SND_RESUTL_OK 0 #define RT_CAN_SND_RESULT_OK 0
#define RT_CAN__SND_RESUTL_ERR 1 #define RT_CAN_SND_RESULT_ERR 1
#define RT_CAN__SND_RESUTL_WAIT 2 #define RT_CAN_SND_RESULT_WAIT 2
#define RT_CAN_EVENT_RX_IND 0x01 /* Rx indication */ #define RT_CAN_EVENT_RX_IND 0x01 /* Rx indication */
#define RT_CAN_EVENT_TX_DONE 0x02 /* Tx complete */ #define RT_CAN_EVENT_TX_DONE 0x02 /* Tx complete */
#define RT_CAN_EVENT_TX_FAIL 0x03 /* Tx complete */ #define RT_CAN_EVENT_TX_FAIL 0x03 /* Tx complete */
#define RT_CAN_EVENT_RX_TIMEOUT 0x05 /* Rx timeout */ #define RT_CAN_EVENT_RX_TIMEOUT 0x05 /* Rx timeout */
#define RT_CAN_EVENT_RXOF_IND 0x06 /* Rx overflow */ #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; struct rt_list_node list;
rt_uint32_t result; struct rt_completion completion;
rt_uint32_t result;
}; };
struct rt_can_tx_fifo struct rt_can_tx_fifo
{ {
struct rt_can_sndbxinx_list *buffer; struct rt_can_sndbxinx_list *buffer;
struct rt_completion completion; struct rt_completion completion;
struct rt_list_node freelist; struct rt_list_node freelist;
}; };
struct rt_can_ops struct rt_can_ops
{ {
rt_err_t (*configure)(struct rt_can_device *can, struct can_configure *cfg); 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); 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 (*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); 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, rt_err_t rt_hw_can_register(struct rt_can_device *can,
const char *name, const char *name,
const struct rt_can_ops *ops, const struct rt_can_ops *ops,
void *data); void *data);
void rt_hw_can_isr(struct rt_can_device *can, int event); void rt_hw_can_isr(struct rt_can_device *can, int event);
#endif /*_CAN_H*/ #endif /*_CAN_H*/