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This commit is contained in:
Aubr.Cool 2015-05-14 15:44:06 +08:00
parent 2f5c5b676d
commit eb56b832ef
6 changed files with 2770 additions and 0 deletions
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141
bsp/stm32f10x/applications/canapp.c Normal file
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/*
* File : canapp.c
* This file is part of RT-Thread RTOS
* COPYRIGHT (C) 2006, 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
*/
#include <board.h>
#include <rtthread.h>
#include <rtdevice.h>
struct can_app_struct
{
const char* name;
struct rt_event event;
struct rt_can_filter_config * filter;
rt_uint8_t eventopt;
};
static struct can_app_struct can_data[2];
static rt_err_t can1ind(rt_device_t dev, void* args, rt_int32_t hdr, rt_size_t size)
{
rt_event_t pevent = (rt_event_t)args;
rt_event_send(pevent, 1 << (hdr));
return RT_EOK;
}
static rt_err_t can2ind(rt_device_t dev, void* args, rt_int32_t hdr, rt_size_t size)
{
rt_event_t pevent = (rt_event_t)args;
rt_event_send(pevent, 1 << (hdr));
return RT_EOK;
}
struct rt_can_filter_item filter1item[4] =
{
RT_CAN_FILTER_STD_INIT(1,can1ind,&can_data[0].event),
RT_CAN_FILTER_STD_INIT(2,can1ind,&can_data[0].event),
RT_CAN_STD_RMT_FILTER_INIT(3,can1ind,&can_data[0].event),
RT_CAN_STD_RMT_DATA_FILTER_INIT(4,can1ind,&can_data[0].event),
};
struct rt_can_filter_item filter2item[4] =
{
RT_CAN_FILTER_STD_INIT(1,can2ind,&can_data[1].event),
RT_CAN_FILTER_STD_INIT(2,can2ind,&can_data[1].event),
RT_CAN_STD_RMT_FILTER_INIT(3,can2ind,&can_data[1].event),
RT_CAN_STD_RMT_DATA_FILTER_INIT(4,can2ind,&can_data[1].event),
};
struct rt_can_filter_config filter1 =
{
.count = 4,
.actived = 1,
.items = filter1item,
};
struct rt_can_filter_config filter2 =
{
.count = 4,
.actived = 1,
.items = filter2item,
};
static struct can_app_struct can_data[2] = {
{
.name = "bxcan1",
.filter = &filter1,
.eventopt = RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR,
},
{
.name = "bxcan2",
.filter = &filter2,
.eventopt = RT_EVENT_FLAG_AND | RT_EVENT_FLAG_CLEAR,
},
};
void rt_can_thread_entry(void* parameter)
{
struct rt_can_msg msg;
struct can_app_struct* canpara = (struct can_app_struct*) parameter;
rt_device_t candev;
rt_uint32_t e;
candev = rt_device_find(canpara->name);
RT_ASSERT(candev);
rt_event_init(&canpara->event, canpara->name, RT_IPC_FLAG_FIFO);
rt_device_open(candev, (RT_DEVICE_OFLAG_RDWR | RT_DEVICE_FLAG_INT_RX | RT_DEVICE_FLAG_INT_TX));
rt_device_control(candev,RT_CAN_CMD_SET_FILTER,canpara->filter);
while(1) {
if (
rt_event_recv(&canpara->event,
((1 << canpara->filter->items[0].hdr) |
(1 << canpara->filter->items[1].hdr) |
(1 << canpara->filter->items[2].hdr) |
(1 << canpara->filter->items[3].hdr)),
canpara->eventopt,
RT_WAITING_FOREVER, &e) != RT_EOK
) {
continue;
}
if(e & (1 << canpara->filter->items[0].hdr)) {
msg.hdr = canpara->filter->items[0].hdr;
while (rt_device_read(candev, 0, &msg, sizeof(msg)) == sizeof(msg)) {
rt_device_write(candev, 0, &msg, sizeof(msg));
}
}
if(e & (1 << canpara->filter->items[1].hdr)) {
msg.hdr = canpara->filter->items[1].hdr;
while (rt_device_read(candev, 0, &msg, sizeof(msg)) == sizeof(msg)) {
rt_device_write(candev, 0, &msg, sizeof(msg));
}
}
if(e & (1 << canpara->filter->items[2].hdr)) {
msg.hdr = canpara->filter->items[2].hdr;
while (rt_device_read(candev, 0, &msg, sizeof(msg)) == sizeof(msg)) {
rt_device_write(candev, 0, &msg, sizeof(msg));
}
}
if(e & (1 << canpara->filter->items[3].hdr)) {
msg.hdr = canpara->filter->items[3].hdr;
while (rt_device_read(candev, 0, &msg, sizeof(msg)) == sizeof(msg)) {
rt_device_write(candev, 0, &msg, sizeof(msg));
}
}
}
}
int rt_can_app_init(void)
{
rt_thread_t tid;
tid = rt_thread_create("canapp1",
rt_can_thread_entry, &can_data[0],
512, RT_THREAD_PRIORITY_MAX /3 - 1, 20);
if (tid != RT_NULL) rt_thread_startup(tid);
tid = rt_thread_create("canapp2",
rt_can_thread_entry, &can_data[1],
512, RT_THREAD_PRIORITY_MAX /3 - 1, 20);
if (tid != RT_NULL) rt_thread_startup(tid);
return 0;
}
INIT_APP_EXPORT(rt_can_app_init);

1411
bsp/stm32f10x/drivers/bxcan.c Normal file
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16
bsp/stm32f10x/drivers/bxcan.h Normal file
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/*
* File : bxcan.h
* 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
*/
#ifndef BXCAN_H_
#define BXCAN_H_
#endif /*BXCAN_H_*/

906
components/drivers/can/can.c Normal file
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/*
* 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
*/
#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
#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;
}
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

292
components/drivers/include/drivers/can.h Normal file
View File

@ -0,0 +1,292 @@
/*
* File : can.h
* 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
*/
#ifndef CAN_H_
#define CAN_H_
#ifndef RT_CANMSG_BOX_SZ
#define RT_CANMSG_BOX_SZ 16
#endif
#ifndef RT_CANSND_BOX_NUM
#define RT_CANSND_BOX_NUM 1
#endif
enum CANBAUD
{
CAN1MBaud=0, // 1 MBit/sec
CAN800kBaud, // 800 kBit/sec
CAN500kBaud, // 500 kBit/sec
CAN250kBaud, // 250 kBit/sec
CAN125kBaud, // 125 kBit/sec
CAN100kBaud, // 100 kBit/sec
CAN50kBaud, // 50 kBit/sec
CAN20kBaud, // 20 kBit/sec
CAN10kBaud // 10 kBit/sec
};
#define RT_CAN_MODE_NORMAL 0
#define RT_CAN_MODE_LISEN 1
#define RT_CAN_MODE_LOOPBACK 2
#define RT_CAN_MODE_LOOPBACKANLISEN 3
#define RT_CAN_MODE_PRIV 0x01
#define RT_CAN_MODE_NOPRIV 0x00
#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;
rt_uint32_t ide :1;
rt_uint32_t rtr :1;
rt_uint32_t mode :1;
rt_uint32_t mask;
rt_int32_t hdr;
rt_err_t (*ind)(rt_device_t dev, void* args ,rt_int32_t hdr, rt_size_t size);
void* args;
};
#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,\
}
#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) \
RT_CAN_FILTER_ITEM_INIT(id,1,0,0,0xFFFFFFFF,ind,args)
#define RT_CAN_STD_RMT_FILTER_INIT(id,ind,args) \
RT_CAN_FILTER_ITEM_INIT(id,0,1,0,0xFFFFFFFF,ind,args)
#define RT_CAN_EXT_RMT_FILTER_INIT(id,ind,args) \
RT_CAN_FILTER_ITEM_INIT(id,1,1,0,0xFFFFFFFF,ind,args)
#define RT_CAN_STD_RMT_DATA_FILTER_INIT(id,ind,args) \
RT_CAN_FILTER_ITEM_INIT(id,0,0,1,0xFFFFFFFF,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)
#else
#define RT_CAN_FILTER_ITEM_INIT(id,ide,rtr,mode,mask,args) \
{\
id,\
ide,\
rtr,\
mode,\
mask,\
-1,\
args,\
}
#define RT_CAN_FILTER_STD_INIT(id,args) \
RT_CAN_FILTER_ITEM_INIT(id,0,0,0,0xFFFFFFFF,args)
#define RT_CAN_FILTER_EXT_INIT(id,args) \
RT_CAN_FILTER_ITEM_INIT(id,1,0,0,0xFFFFFFFF,args)
#define RT_CAN_STD_RMT_FILTER_INIT(id,args) \
RT_CAN_FILTER_ITEM_INIT(id,0,1,0,0xFFFFFFFF,args)
#define RT_CAN_EXT_RMT_FILTER_INIT(id,args) \
RT_CAN_FILTER_ITEM_INIT(id,1,1,0,0xFFFFFFFF,args)
#define RT_CAN_STD_RMT_DATA_FILTER_INIT(id,args) \
RT_CAN_FILTER_ITEM_INIT(id,0,0,1,0xFFFFFFFF,args)
#define RT_CAN_EXT_RMT_DATA_FILTER_INIT(id,args) \
RT_CAN_FILTER_ITEM_INIT(id,1,0,1,0xFFFFFFFF,args)
#endif
struct rt_can_filter_config
{
rt_uint32_t count;
rt_uint32_t actived;
struct rt_can_filter_item* items;
};
struct can_configure
{
rt_uint32_t baud_rate;
rt_uint32_t msgboxsz;
rt_uint32_t sndboxnumber;
rt_uint32_t mode :8;
rt_uint32_t privmode :8;
rt_uint32_t reserved :16;
#ifdef RT_CAN_USING_LED
const struct rt_can_led* rcvled;
const struct rt_can_led* sndled;
const struct rt_can_led* errled;
#endif /*RT_CAN_USING_LED*/
rt_uint32_t ticks;
#ifdef RT_CAN_USING_HDR
rt_uint32_t maxhdr;
#endif
};
#define CANDEFAULTCONFIG \
{\
CAN1MBaud,\
RT_CANMSG_BOX_SZ,\
RT_CANSND_BOX_NUM,\
RT_CAN_MODE_NORMAL,\
};
struct rt_can_ops;
#define RT_CAN_CMD_SET_FILTER 0x13
#define RT_CAN_CMD_SET_BAUD 0x14
#define RT_CAN_CMD_SET_MODE 0x15
#define RT_CAN_CMD_SET_PRIV 0x16
#define RT_CAN_CMD_GET_STATUS 0x17
#define RT_CAN_CMD_SET_STATUS_IND 0x18
#define RT_DEVICE_CAN_INT_ERR 0x1000
enum RT_CAN_STATUS_MODE
{
NORMAL = 0,
ERRWARNING = 1,
ERRPASSIVE = 2,
BUSOFF = 4,
};
enum RT_CAN_BUS_ERR
{
RT_CAN_BUS_NO_ERR = 0,
RT_CAN_BUS_BIT_PAD_ERR = 1,
RT_CAN_BUS_FORMAT_ERR = 2,
RT_CAN_BUS_ACK_ERR = 3,
RT_CAN_BUS_IMPLICIT_BIT_ERR = 4,
RT_CAN_BUS_EXPLICIT_BIT_ERR = 5,
RT_CAN_BUS_CRC_ERR = 6,
};
struct rt_can_status
{
rt_uint32_t rcverrcnt;
rt_uint32_t snderrcnt;
rt_uint32_t errcode;
rt_uint32_t rcvpkg;
rt_uint32_t dropedrcvpkg;
rt_uint32_t sndpkg;
rt_uint32_t dropedsndpkg;
rt_uint32_t bitpaderrcnt;
rt_uint32_t formaterrcnt;
rt_uint32_t ackerrcnt;
rt_uint32_t biterrcnt;
rt_uint32_t crcerrcnt;
rt_uint32_t rcvchange;
rt_uint32_t sndchange;
rt_uint32_t lasterrtype;
};
#ifdef RT_CAN_USING_HDR
struct rt_can_hdr {
rt_uint32_t connected;
rt_uint32_t msgs;
struct rt_can_filter_item filter;
struct rt_list_node list;
};
#endif
struct rt_can_device;
typedef rt_err_t (*rt_canstatus_ind)(struct rt_can_device*, void*);
typedef struct rt_can_status_ind_type
{
rt_canstatus_ind ind;
void* args;
} *rt_can_status_ind_type_t;
struct rt_can_device
{
struct rt_device parent;
const struct rt_can_ops *ops;
struct can_configure config;
struct rt_can_status status;
rt_uint32_t timerinitflag;
struct rt_timer timer;
struct rt_can_status_ind_type status_indicate;
#ifdef RT_CAN_USING_HDR
struct rt_can_hdr* hdr;
#endif
void *can_rx;
void *can_tx;
};
typedef struct rt_can_device *rt_can_t;
#define RT_CAN_STDID 0
#define RT_CAN_EXTID 1
#define RT_CAN_DTR 0
#define RT_CAN_RTR 1
typedef struct rt_can_status * rt_can_status_t;
struct rt_can_msg
{
rt_uint32_t id :29;
rt_uint32_t ide :1;
rt_uint32_t rtr :1;
rt_uint32_t rsv :1;
rt_uint32_t len :8;
rt_uint32_t priv :8;
rt_uint32_t hdr :8;
rt_uint32_t reserved :8;
rt_uint8_t data[8];
};
typedef struct rt_can_msg* rt_can_msg_t;
struct rt_can_msg_list {
struct rt_list_node list;
#ifdef RT_CAN_USING_HDR
struct rt_list_node hdrlist;
struct rt_can_hdr* owner;
#endif
struct rt_can_msg data;
};
struct rt_can_rx_fifo
{
/* software fifo */
struct rt_can_msg_list *buffer;
rt_uint32_t freenumbers;
struct rt_list_node freelist;
struct rt_list_node uselist;
};
#define RT_CAN__SND_RESUTL_OK 0
#define RT_CAN__SND_RESUTL_ERR 1
#define RT_CAN__SND_RESUTL_WAIT 2
#define RT_CAN_EVENT_RX_IND 0x01 /* Rx indication */
#define RT_CAN_EVENT_TX_DONE 0x02 /* Tx complete */
#define RT_CAN_EVENT_TX_FAIL 0x03 /* Tx complete */
#define RT_CAN_EVENT_RX_TIMEOUT 0x05 /* Rx timeout */
#define RT_CAN_EVENT_RXOF_IND 0x06 /* Rx overflow */
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);
rt_err_t (*control)(struct rt_can_device *can, int cmd, void *arg);
int (*sendmsg)(struct rt_can_device *can, const void* buf, rt_uint32_t boxno);
int (*recvmsg)(struct rt_can_device *can,void* buf, rt_uint32_t boxno);
};
rt_err_t rt_hw_can_register(struct rt_can_device *can,
const char *name,
const struct rt_can_ops *ops,
void *data);
void rt_hw_can_isr(struct rt_can_device *can, int event);
#endif /*_CAN_H*/

4
components/drivers/include/rtdevice.h
View File

@ -366,6 +366,10 @@ rt_inline void rt_work_init(struct rt_work* work, void (*work_func)(struct rt_wo
#include "drivers/pin.h"
#endif
#ifdef RT_USING_CAN
#include "drivers/can.h"
#endif
#ifdef __cplusplus
}
#endif