Add a generic CAN driver
git-svn-id: https://nuttx.svn.sourceforge.net/svnroot/nuttx/trunk@660 7fd9a85b-ad96-42d3-883c-3090e2eb8679
This commit is contained in:
parent
1b2fd4cde1
commit
505abb3a7e
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@ -331,6 +331,7 @@
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* Fix a build problem with z80 and SDCC 2.7.0 (format of a map file changed)
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* Fix a build problem with z80 and SDCC 2.7.0 (format of a map file changed)
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(see bug 1887170)
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(see bug 1887170)
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* Pascal P-Code runtime now compiles with the SDCC toolchain.
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* Pascal P-Code runtime now compiles with the SDCC toolchain.
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* Added a generic CAN driver. This driver is untested as of this writing.
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@ -989,6 +989,7 @@ nuttx-0.3.8 2008-xx-xx Gregory Nutt <spudmonkey@racsa.co.cr>
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* Fix a build problem with z80 and SDCC 2.7.0 (format of a map file changed)
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* Fix a build problem with z80 and SDCC 2.7.0 (format of a map file changed)
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(see bug 1887170)
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(see bug 1887170)
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* Pascal P-Code runtime now compiles with the SDCC toolchain.
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* Pascal P-Code runtime now compiles with the SDCC toolchain.
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* Added a generic CAN driver. This driver is untested as of this writing.
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pascal-0.1.2 2008-xx-xx Gregory Nutt <spudmonkey@racsa.co.cr>
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pascal-0.1.2 2008-xx-xx Gregory Nutt <spudmonkey@racsa.co.cr>
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10
nuttx/TODO
10
nuttx/TODO
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@ -10,7 +10,7 @@ NuttX TODO List (Last updated January 6, 2008)
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(11) Network (net/, netutils/)
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(11) Network (net/, netutils/)
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(2) USB (drivers/usbdev)
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(2) USB (drivers/usbdev)
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(3) Libraries (lib/)
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(3) Libraries (lib/)
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(2) File system (fs/, drivers/)
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(3) File system/Generic drivers (fs/, drivers/)
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(1) Pascal add-on (pcode/)
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(1) Pascal add-on (pcode/)
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(2) Documentation (Documentation/)
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(2) Documentation (Documentation/)
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(3) Build system
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(3) Build system
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@ -218,8 +218,8 @@ o Libraries (lib/)
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Status: Open
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Status: Open
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Priority: Low
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Priority: Low
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o File system (fs/, drivers/)
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o File system / Generic drivers (fs/, drivers/)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Description: Add chmod(), truncate().
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Description: Add chmod(), truncate().
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Status: Open
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Status: Open
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@ -229,6 +229,10 @@ o File system (fs/, drivers/)
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Status: Open
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Status: Open
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Priority: Medium
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Priority: Medium
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Desription: The CAN driver is untested
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Status: Open
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Priority: Medium
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o Pascal Add-On (pcode/)
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o Pascal Add-On (pcode/)
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^^^^^^^^^^^^^^^^^^^^^^
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^^^^^^^^^^^^^^^^^^^^^^
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@ -44,7 +44,7 @@ AOBJS = $(ASRCS:.S=$(OBJEXT))
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CSRCS =
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CSRCS =
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ifneq ($(CONFIG_NFILE_DESCRIPTORS),0)
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ifneq ($(CONFIG_NFILE_DESCRIPTORS),0)
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CSRCS += dev_null.c dev_zero.c serial.c lowconsole.c
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CSRCS += dev_null.c dev_zero.c serial.c lowconsole.c can.c
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endif
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endif
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CSRCS += $(NET_CSRCS)
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CSRCS += $(NET_CSRCS)
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COBJS = $(CSRCS:.c=$(OBJEXT))
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COBJS = $(CSRCS:.c=$(OBJEXT))
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@ -0,0 +1,736 @@
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/****************************************************************************
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* drivers/can.c
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*
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* Copyright (C) 2008 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <spudmonkey@racsa.co.cr>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/****************************************************************************
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* Compilation Switches
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <sys/types.h>
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#include <unistd.h>
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#include <string.h>
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#include <semaphore.h>
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#include <fcntl.h>
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#include <errno.h>
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#include <debug.h>
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#include <nuttx/fs.h>
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#include <nuttx/can.h>
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#include <arch/irq.h>
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/****************************************************************************
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* Definitions
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****************************************************************************/
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/****************************************************************************
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* Private Type Definitions
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****************************************************************************/
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/****************************************************************************
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* Private Function Prototypes
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****************************************************************************/
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static int can_open(FAR struct file *filep);
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static int can_close(FAR struct file *filep);
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static ssize_t can_read(FAR struct file *filep, FAR char *buffer, size_t buflen);
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static int can_xmit(FAR struct can_dev_s *dev);
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static ssize_t can_write(FAR struct file *filep, FAR const char *buffer, size_t buflen);
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static inline ssize_t can_rtrread(FAR struct can_dev_s *dev, FAR struct canioctl_rtr_s *rtr);
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static int can_ioctl(FAR struct file *filep, int cmd, unsigned long arg);
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/****************************************************************************
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* Private Data
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****************************************************************************/
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struct file_operations g_canops =
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{
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can_open, /* open */
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can_close, /* close */
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can_read, /* read */
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can_write, /* write */
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0, /* seek */
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can_ioctl /* ioctl */
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};
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/************************************************************************************
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* Name: can_open
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*
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* Description:
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* This function is called whenever the CAN device is opened.
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*
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************************************************************************************/
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static int can_open(FAR struct file *filep)
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{
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FAR struct inode *inode = filep->f_inode;
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FAR struct can_dev_s *dev = inode->i_private;
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int ret = OK;
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/* If the port is the middle of closing, wait until the close is finished */
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if (sem_wait(&dev->cd_closesem) != OK)
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{
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ret = -errno;
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}
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else
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{
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/* Increment the count of references to the device. If this the first
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* time that the driver has been opened for this device, then initialize
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* the device.
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*/
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if (++dev->cd_ocount == 1)
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{
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irqstate_t flags = irqsave();
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/* Configure hardware interrupts */
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ret = dev_setup(dev);
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if (ret == OK)
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{
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/* Mark the FIFOs empty */
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dev->cd_xmit.cf_head = 0;
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dev->cd_xmit.cf_tail = 0;
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dev->cd_recv.cf_head = 0;
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dev->cd_recv.cf_tail = 0;
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/* Finally, Enable CAN interrupt */
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dev_rxint(dev, TRUE);
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}
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irqrestore(flags);
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}
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sem_post(&dev->cd_closesem);
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}
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return ret;
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}
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/************************************************************************************
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* Name: can_close
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*
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* Description:
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* This routine is called when the CAN device is closed.
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* It waits for the last remaining data to be sent.
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*
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************************************************************************************/
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static int can_close(FAR struct file *filep)
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{
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FAR struct inode *inode = filep->f_inode;
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FAR struct can_dev_s *dev = inode->i_private;
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irqstate_t flags;
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int ret = OK;
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if (sem_wait(&dev->cd_closesem) != OK)
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{
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ret = -errno;
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}
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else
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{
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/* Decrement the references to the driver. If the reference count will
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* decrement to 0, then uninitialize the driver.
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*/
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if (dev->cd_ocount > 1)
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{
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dev->cd_ocount--;
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sem_post(&dev->cd_closesem);
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}
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else
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{
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/* There are no more references to the port */
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dev->cd_ocount = 0;
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/* Stop accepting input */
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dev_rxint(dev, FALSE);
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/* Now we wait for the transmit FIFO to clear */
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while (dev->cd_xmit.cf_head != dev->cd_xmit.cf_tail)
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{
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#ifndef CONFIG_DISABLE_SIGNALS
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usleep(500*1000);
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#else
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up_mdelay(500);
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#endif
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}
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/* And wait for the TX hardware FIFO to drain */
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while (!dev_txempty(dev))
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{
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#ifndef CONFIG_DISABLE_SIGNALS
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usleep(500*1000);
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#else
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up_mdelay(500);
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#endif
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}
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/* Free the IRQ and disable the CAN device */
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flags = irqsave(); /* Disable interrupts */
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dev_shutdown(dev); /* Disable the CAN */
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irqrestore(flags);
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sem_post(&dev->cd_closesem);
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}
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}
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return ret;
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}
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/************************************************************************************
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* Name: can_read
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*
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* Description:
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* Read standard CAN messages
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*
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************************************************************************************/
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static ssize_t can_read(FAR struct file *filep, FAR char *buffer, size_t buflen)
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{
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FAR struct inode *inode = filep->f_inode;
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FAR struct can_dev_s *dev = inode->i_private;
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size_t nread;
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irqstate_t flags;
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int ret = 0;
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/* The caller must provide enough memory to catch the smallest possible message
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* This is not a system error condition, but we won't permit it, Hence we return 0.
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*/
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if (buflen >= CAN_MSGLEN(0))
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{
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/* Interrupts must be disabled while accessing the cd_recv FIFO */
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flags = irqsave();
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while (dev->cd_recv.cf_head == dev->cd_recv.cf_tail)
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{
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/* The receive FIFO is empty -- was non-blocking mode selected? */
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if (filep->f_oflags & O_NONBLOCK)
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{
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ret = -EAGAIN;
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goto return_with_irqdisabled;
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}
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/* Wait for a message to be received */
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ret = sem_wait(&dev->cd_recv.cf_sem);
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if (ret < 0)
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{
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ret = -errno;
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goto return_with_irqdisabled;
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}
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}
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/* The cd_recv FIFO is not empty. Copy all buffered data that will fit
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* in the user buffer.
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*/
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nread = 0;
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do
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{
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/* Will the next message in the FIFO fit into the user buffer? */
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FAR struct can_msg_s *msg = &dev->cd_recv.cf_buffer[dev->cd_recv.cf_head];
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int msglen = CAN_MSGLEN(msg->cm_hdr);
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if (ret + msglen > buflen)
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{
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break;
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}
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/* Copy the message to the user buffer */
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memcpy(&buffer[nread], msg, msglen);
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nread += msglen;
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/* Increment the head of the circular message buffer */
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if (++dev->cd_recv.cf_head >= CONFIG_CAN_FIFOSIZE)
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{
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dev->cd_recv.cf_head = 0;
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}
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}
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while (dev->cd_recv.cf_head != dev->cd_recv.cf_tail);
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/* All on the messages have bee transferred. Return the number of bytes
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* that were read.
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*/
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ret = nread;
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return_with_irqdisabled:
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irqrestore(flags);
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}
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return ret;
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}
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/************************************************************************************
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* Name: can_xmit
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*
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* Description:
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* Send the message at the head of the cd_xmit FIFO
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*
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* Assumptions:
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* Called with interrupts disabled
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*
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************************************************************************************/
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static int can_xmit(FAR struct can_dev_s *dev)
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{
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boolean enable = FALSE;
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int ret = OK;
|
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|
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/* Check if the xmit FIFO is empty */
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if (dev->cd_xmit.cf_head != dev->cd_xmit.cf_head)
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{
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/* Send the next message at the head of the FIFO */
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ret = dev_send(dev, &dev->cd_xmit.cf_buffer[dev->cd_xmit.cf_head]);
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/* Make sure the TX done interrupts are enabled */
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enable = (ret == OK ? TRUE : FALSE);
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}
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dev_txint(dev, enable);
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return ret;
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}
|
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Name: can_write
|
||||||
|
************************************************************************************/
|
||||||
|
|
||||||
|
static ssize_t can_write(FAR struct file *filep, FAR const char *buffer, size_t buflen)
|
||||||
|
{
|
||||||
|
FAR struct inode *inode = filep->f_inode;
|
||||||
|
FAR struct can_dev_s *dev = inode->i_private;
|
||||||
|
FAR struct can_fifo_s *fifo = &dev->cd_xmit;
|
||||||
|
FAR struct can_msg_s *msg;
|
||||||
|
boolean empty = FALSE;
|
||||||
|
ssize_t nsent = 0;
|
||||||
|
irqstate_t flags;
|
||||||
|
int nexttail;
|
||||||
|
int msglen;
|
||||||
|
int ret = 0;
|
||||||
|
|
||||||
|
/* Interrupts must disabled throughout the following */
|
||||||
|
|
||||||
|
flags = irqsave();
|
||||||
|
|
||||||
|
/* Check if the TX FIFO was empty when we started. That is a clue that we have
|
||||||
|
* to kick off a new TX sequence.
|
||||||
|
*/
|
||||||
|
|
||||||
|
empty = (fifo->cf_head == fifo->cf_tail);
|
||||||
|
|
||||||
|
/* Add the messages to the FIFO. Ignore any trailing messages that are
|
||||||
|
* shorter than the minimum.
|
||||||
|
*/
|
||||||
|
|
||||||
|
while ((buflen - nsent) >= CAN_MSGLEN(0))
|
||||||
|
{
|
||||||
|
/* Check if adding this new message would over-run the drivers ability to enqueue
|
||||||
|
* xmit data.
|
||||||
|
*/
|
||||||
|
|
||||||
|
nexttail = fifo->cf_tail + 1;
|
||||||
|
if (nexttail >= CONFIG_CAN_FIFOSIZE)
|
||||||
|
{
|
||||||
|
nexttail = 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* If the XMIT fifo becomes full, then wait for space to become available */
|
||||||
|
|
||||||
|
while (nexttail == fifo->cf_head)
|
||||||
|
{
|
||||||
|
/* The transmit FIFO is full -- was non-blocking mode selected? */
|
||||||
|
|
||||||
|
if (filep->f_oflags & O_NONBLOCK)
|
||||||
|
{
|
||||||
|
if (nsent == 0)
|
||||||
|
{
|
||||||
|
ret = -EAGAIN;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
ret = nsent;
|
||||||
|
}
|
||||||
|
goto return_with_irqdisabled;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* If the FIFO was empty when we started, then we will have
|
||||||
|
* start the XMIT sequence to clear the FIFO.
|
||||||
|
*/
|
||||||
|
|
||||||
|
if (empty)
|
||||||
|
{
|
||||||
|
can_xmit(dev);
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Wait for a message to be sent */
|
||||||
|
|
||||||
|
do
|
||||||
|
{
|
||||||
|
ret = sem_wait(&fifo->cf_sem);
|
||||||
|
if (ret < 0 && errno != EINTR)
|
||||||
|
{
|
||||||
|
ret = -errno;
|
||||||
|
goto return_with_irqdisabled;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
while (ret < 0);
|
||||||
|
|
||||||
|
/* Re-check the FIFO state */
|
||||||
|
|
||||||
|
empty = (fifo->cf_head == fifo->cf_tail);
|
||||||
|
}
|
||||||
|
|
||||||
|
/* We get here if there is space at the end of the FIFO. Add the new
|
||||||
|
* CAN message at the tail of the FIFO.
|
||||||
|
*/
|
||||||
|
|
||||||
|
msg = (FAR struct can_msg_s *)&buffer[nsent];
|
||||||
|
msglen = CAN_MSGLEN(msg->cm_hdr);
|
||||||
|
memcpy(&fifo->cf_buffer[fifo->cf_tail], msg, msglen);
|
||||||
|
|
||||||
|
/* Increment the tail of the circular buffer */
|
||||||
|
|
||||||
|
fifo->cf_tail = nexttail;
|
||||||
|
|
||||||
|
/* Increment the number of bytes that were sent */
|
||||||
|
|
||||||
|
nsent += msglen;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* We get here after all messages have been added to the FIFO. Check if
|
||||||
|
* we need to kick of the XMIT sequence.
|
||||||
|
*/
|
||||||
|
|
||||||
|
if (empty)
|
||||||
|
{
|
||||||
|
can_xmit(dev);
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Return the number of bytes that were sent */
|
||||||
|
|
||||||
|
ret = nsent;
|
||||||
|
|
||||||
|
return_with_irqdisabled:
|
||||||
|
irqrestore(flags);
|
||||||
|
return ret;
|
||||||
|
}
|
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Name: can_rtrread
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* Read RTR messages. The RTR message is a special message -- it is an outgoing
|
||||||
|
* message that says "Please re-transmit the message with the same identifier as
|
||||||
|
* this message. So the RTR read is really a send-wait-receive operation.
|
||||||
|
*
|
||||||
|
************************************************************************************/
|
||||||
|
|
||||||
|
static inline ssize_t can_rtrread(FAR struct can_dev_s *dev, FAR struct canioctl_rtr_s *rtr)
|
||||||
|
{
|
||||||
|
FAR struct can_rtrwait_s *wait = NULL;
|
||||||
|
irqstate_t flags;
|
||||||
|
int i;
|
||||||
|
int ret = -ENOMEM;
|
||||||
|
|
||||||
|
/* Disable interrupts through this operation */
|
||||||
|
|
||||||
|
flags = irqsave();
|
||||||
|
|
||||||
|
/* Find an avaiable slot in the pending RTR list */
|
||||||
|
|
||||||
|
for (i = 0; i < CONFIG_CAN_NPENDINGRTR; i++)
|
||||||
|
{
|
||||||
|
FAR struct can_rtrwait_s *tmp = &dev->cd_rtr[i];
|
||||||
|
if (!rtr->ci_msg)
|
||||||
|
{
|
||||||
|
tmp->cr_id = rtr->ci_id;
|
||||||
|
tmp->cr_msg = rtr->ci_msg;
|
||||||
|
dev->cd_npendrtr++;
|
||||||
|
wait = tmp;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
if (wait)
|
||||||
|
{
|
||||||
|
/* Send the remote transmission request */
|
||||||
|
|
||||||
|
ret = dev_remoterequest(dev, wait->cr_id);
|
||||||
|
if (ret == OK)
|
||||||
|
{
|
||||||
|
/* Then wait for the response */
|
||||||
|
|
||||||
|
ret = sem_wait(&wait->cr_sem);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
irqrestore(flags);
|
||||||
|
return ret;
|
||||||
|
}
|
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Name: can_ioctl
|
||||||
|
************************************************************************************/
|
||||||
|
|
||||||
|
static int can_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
|
||||||
|
{
|
||||||
|
FAR struct inode *inode = filep->f_inode;
|
||||||
|
FAR struct can_dev_s *dev = inode->i_private;
|
||||||
|
int ret = OK;
|
||||||
|
|
||||||
|
/* Handle built-in ioctl commands */
|
||||||
|
|
||||||
|
switch (cmd)
|
||||||
|
{
|
||||||
|
/* CANIOCTL_RTR: Send the remote transmission request and wait for the response.
|
||||||
|
* Argument is a reference to struct canioctl_rtr_s
|
||||||
|
*/
|
||||||
|
|
||||||
|
case CANIOCTL_RTR:
|
||||||
|
ret = can_rtrread(dev, (struct canioctl_rtr_s*)arg);
|
||||||
|
break;
|
||||||
|
|
||||||
|
/* Not a "built-in" ioctl command.. perhaps it is unique to this device driver */
|
||||||
|
|
||||||
|
default:
|
||||||
|
ret = dev_ioctl(dev, cmd, arg);
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
return ret;
|
||||||
|
}
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Public Functions
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Name: can_register
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* Register serial console and serial ports.
|
||||||
|
*
|
||||||
|
************************************************************************************/
|
||||||
|
|
||||||
|
int can_register(FAR const char *path, FAR struct can_dev_s *dev)
|
||||||
|
{
|
||||||
|
int i;
|
||||||
|
|
||||||
|
/* Initialize the CAN device structure */
|
||||||
|
|
||||||
|
dev->cd_ocount = 0;
|
||||||
|
|
||||||
|
sem_init(&dev->cd_xmit.cf_sem, 0, 0);
|
||||||
|
sem_init(&dev->cd_recv.cf_sem, 0, 0);
|
||||||
|
sem_init(&dev->cd_closesem, 0, 1);
|
||||||
|
|
||||||
|
for (i = 0; i < CONFIG_CAN_NPENDINGRTR; i++)
|
||||||
|
{
|
||||||
|
sem_init(&dev->cd_rtr[i].cr_sem, 0, 0);
|
||||||
|
dev->cd_rtr[i].cr_msg = NULL;
|
||||||
|
dev->cd_npendrtr--;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Initialize/reset the CAN hardware */
|
||||||
|
|
||||||
|
dev_reset(dev);
|
||||||
|
|
||||||
|
/* Register the CAN device */
|
||||||
|
|
||||||
|
dbg("Registering %s\n", path);
|
||||||
|
return register_driver(path, &g_canops, 0666, dev);
|
||||||
|
}
|
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Name: can_receive
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* Called from the CAN interrupt handler when new read data is available
|
||||||
|
*
|
||||||
|
* Parameters:
|
||||||
|
* dev - CAN driver state structure
|
||||||
|
* hdr - CAN message header
|
||||||
|
* data - CAN message data (if DLC > 0)
|
||||||
|
*
|
||||||
|
* Assumptions:
|
||||||
|
* CAN interrupts are disabled.
|
||||||
|
*
|
||||||
|
************************************************************************************/
|
||||||
|
|
||||||
|
int can_receive(FAR struct can_dev_s *dev, uint16 hdr, FAR ubyte *data)
|
||||||
|
{
|
||||||
|
FAR struct can_fifo_s *fifo = &dev->cd_recv;
|
||||||
|
FAR ubyte *dest;
|
||||||
|
int nexttail;
|
||||||
|
int err = -ENOMEM;
|
||||||
|
int i;
|
||||||
|
|
||||||
|
/* Check if adding this new message would over-run the drivers ability to enqueue
|
||||||
|
* read data.
|
||||||
|
*/
|
||||||
|
|
||||||
|
nexttail = fifo->cf_tail + 1;
|
||||||
|
if (nexttail >= CONFIG_CAN_FIFOSIZE)
|
||||||
|
{
|
||||||
|
nexttail = 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* First, check if this response matches any RTR response that we may be waiting for */
|
||||||
|
|
||||||
|
if (dev->cd_npendrtr > 0)
|
||||||
|
{
|
||||||
|
/* There are pending RTR requests -- search the lists of requests
|
||||||
|
* and see any any matches this new message.
|
||||||
|
*/
|
||||||
|
|
||||||
|
for (i = 0; i < CONFIG_CAN_NPENDINGRTR; i++)
|
||||||
|
{
|
||||||
|
FAR struct can_rtrwait_s *rtr = &dev->cd_rtr[i];
|
||||||
|
FAR struct can_msg_s *msg = rtr->cr_msg;
|
||||||
|
|
||||||
|
/* Check if the entry is valid and if the ID matches. A valid entry has
|
||||||
|
* a non-NULL receiving address
|
||||||
|
*/
|
||||||
|
|
||||||
|
if (msg && CAN_ID(hdr) == rtr->cr_id)
|
||||||
|
{
|
||||||
|
/* We have the response... copy the data to the user's buffer */
|
||||||
|
|
||||||
|
msg->cm_hdr = hdr;
|
||||||
|
for (i = 0, dest = msg->cm_data; i < CAN_DLC(hdr); i++)
|
||||||
|
{
|
||||||
|
*dest++ = *data++;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Mark the entry unused */
|
||||||
|
|
||||||
|
rtr->cr_msg = NULL;
|
||||||
|
|
||||||
|
/* And restart the waiting thread */
|
||||||
|
|
||||||
|
sem_post(&rtr->cr_sem);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Refuse the new data if the FIFO is full */
|
||||||
|
|
||||||
|
if (nexttail != fifo->cf_head)
|
||||||
|
{
|
||||||
|
/* Add the new, decoded CAN message at the tail of the FIFO */
|
||||||
|
|
||||||
|
fifo->cf_buffer[fifo->cf_tail].cm_hdr = hdr;
|
||||||
|
for (i = 0, dest = fifo->cf_buffer[fifo->cf_tail].cm_data; i < CAN_DLC(hdr); i++)
|
||||||
|
{
|
||||||
|
*dest++ = *data++;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Increment the tail of the circular buffer */
|
||||||
|
|
||||||
|
fifo->cf_tail = nexttail;
|
||||||
|
|
||||||
|
/* The increment the counting semaphore. The maximum value should be
|
||||||
|
* CONFIG_CAN_FIFOSIZE -- one possible count for each allocated message buffer.
|
||||||
|
*/
|
||||||
|
|
||||||
|
sem_post(&fifo->cf_sem);
|
||||||
|
err = OK;
|
||||||
|
}
|
||||||
|
return err;
|
||||||
|
}
|
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Name: can_txdone
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* Called from the CAN interrupt handler at the completion of a send operation.
|
||||||
|
*
|
||||||
|
* Parameters:
|
||||||
|
* dev - The specifi CAN device
|
||||||
|
* hdr - The 16-bit CAN header
|
||||||
|
* data - An array contain the CAN data.
|
||||||
|
*
|
||||||
|
* Return:
|
||||||
|
* OK on success; a negated errno on failure.
|
||||||
|
*
|
||||||
|
************************************************************************************/
|
||||||
|
|
||||||
|
int can_txdone(FAR struct can_dev_s *dev)
|
||||||
|
{
|
||||||
|
int ret = -ENOENT;
|
||||||
|
|
||||||
|
/* Verify that the xmit FIFO is not empty */
|
||||||
|
|
||||||
|
if (dev->cd_xmit.cf_head != dev->cd_xmit.cf_head)
|
||||||
|
{
|
||||||
|
/* Remove the message at the head of the xmit FIFO */
|
||||||
|
|
||||||
|
if (++dev->cd_xmit.cf_head >= CONFIG_CAN_FIFOSIZE)
|
||||||
|
{
|
||||||
|
dev->cd_xmit.cf_head = 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Send the next message in the FIFO */
|
||||||
|
|
||||||
|
ret = can_xmit(dev);
|
||||||
|
if (ret == OK)
|
||||||
|
{
|
||||||
|
/* Inform any waiting threads that new xmit space is available */
|
||||||
|
|
||||||
|
ret = sem_post(&dev->cd_xmit.cf_sem);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
return ret;
|
||||||
|
}
|
||||||
|
|
|
@ -0,0 +1,296 @@
|
||||||
|
/************************************************************************************
|
||||||
|
* include/nuttx/can.h
|
||||||
|
*
|
||||||
|
* Copyright (C) 2008 Gregory Nutt. All rights reserved.
|
||||||
|
* Author: Gregory Nutt <spudmonkey@racsa.co.cr>
|
||||||
|
*
|
||||||
|
* Redistribution and use in source and binary forms, with or without
|
||||||
|
* modification, are permitted provided that the following conditions
|
||||||
|
* are met:
|
||||||
|
*
|
||||||
|
* 1. Redistributions of source code must retain the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer.
|
||||||
|
* 2. Redistributions in binary form must reproduce the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer in
|
||||||
|
* the documentation and/or other materials provided with the
|
||||||
|
* distribution.
|
||||||
|
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||||
|
* used to endorse or promote products derived from this software
|
||||||
|
* without specific prior written permission.
|
||||||
|
*
|
||||||
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||||
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||||
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||||
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||||
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||||
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||||
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||||
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||||
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||||
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||||
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||||
|
* POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
*
|
||||||
|
************************************************************************************/
|
||||||
|
|
||||||
|
#ifndef __NUTTX_CAN_H
|
||||||
|
#define __NUTTX_CAN_H
|
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Included Files
|
||||||
|
************************************************************************************/
|
||||||
|
|
||||||
|
#include <nuttx/config.h>
|
||||||
|
#include <sys/types.h>
|
||||||
|
#include <semaphore.h>
|
||||||
|
#include <nuttx/fs.h>
|
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Definitions
|
||||||
|
************************************************************************************/
|
||||||
|
|
||||||
|
/* Default configuration settings that may be overridden in the board configuration file */
|
||||||
|
|
||||||
|
#ifndef CONFIG_CAN_FIFOSIZE
|
||||||
|
# define CONFIG_CAN_FIFOSIZE 8
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifndef CONFIG_CAN_NPENDINGRTR
|
||||||
|
# define CONFIG_CAN_NPENDINGRTR 4
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/* Convenience macros */
|
||||||
|
|
||||||
|
#define dev_reset(dev) dev->cd_ops->co_reset(dev)
|
||||||
|
#define dev_setup(dev) dev->cd_ops->co_setup(dev)
|
||||||
|
#define dev_shutdown(dev) dev->cd_ops->co_shutdown(dev)
|
||||||
|
#define dev_txint(dev,enable) dev->cd_ops->co_txint(dev,enable)
|
||||||
|
#define dev_rxint(dev,enable) dev->cd_ops->co_rxint(dev,enable)
|
||||||
|
#define dev_ioctl(dev,cmd,arg) dev->cd_ops->co_ioctl(dev,cmd,arg)
|
||||||
|
#define dev_remoterequest(dev,id) dev->cd_ops->co_remoterequest(dev,id)
|
||||||
|
#define dev_send(dev,m) dev->cd_ops->co_send(dev,m)
|
||||||
|
#define dev_txempty(dev) dev->cd_ops->co_txempty(dev)
|
||||||
|
|
||||||
|
/* CAN message support */
|
||||||
|
|
||||||
|
#define CAN_MAXDATALEN 8
|
||||||
|
#define CAN_ID(hdr) ((uint16)(hdr) >> 5)
|
||||||
|
#define CAN_RTR(hdr) (((hdr) & 0x0010) != 0)
|
||||||
|
#define CAN_DLC(hdr) ((hdr) & 0x0f)
|
||||||
|
#define CAN_MSGLEN(hdr) (sizeof(struct can_msg_s) - (CAN_MAXDATALEN - CAN_DLC(hdr)))
|
||||||
|
|
||||||
|
/* Built-in ioctl commands
|
||||||
|
*
|
||||||
|
* CANIOCTL_RTR: Send the remote transmission request and wait for the response.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#define CANIOCTL_RTR 1 /* Argument is a reference to struct canioctl_rtr_s */
|
||||||
|
|
||||||
|
/* CANIOCTL_USER: Device specific ioctl calls can be supported with cmds greater
|
||||||
|
* than this value
|
||||||
|
*/
|
||||||
|
|
||||||
|
#define CANIOCTL_USER 2
|
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Private Types
|
||||||
|
************************************************************************************/
|
||||||
|
/* CAN-message Format
|
||||||
|
*
|
||||||
|
* One CAN-message consists of a maximum of 10 bytes. A message is composed of at
|
||||||
|
* least the first 2 bytes (when there are no data bytes).
|
||||||
|
*
|
||||||
|
* Byte 0: Bits 0-7: Bits 3-10 of the 11-bit CAN identifier
|
||||||
|
* Byte 1: Bits 5-7: Bits 0-2 of the 11-bit CAN identifier
|
||||||
|
* Bit 4: Remote Tranmission Request (RTR)
|
||||||
|
* Bits 0-3: Data Length Code (DLC)
|
||||||
|
* Bytes 2-10: CAN data
|
||||||
|
*
|
||||||
|
* The struct can_msg_s holds this information in a user-friendly, unpacked form.
|
||||||
|
* This is the form that is used at the read() and write() driver interfaces. The
|
||||||
|
* message structure is actually variable length -- the true length is given by
|
||||||
|
* the CAN_MSGLEN macro.
|
||||||
|
*/
|
||||||
|
|
||||||
|
struct can_msg_s
|
||||||
|
{
|
||||||
|
uint16 cm_hdr; /* The 16-bit CAN header */
|
||||||
|
ubyte cm_data[CAN_MAXDATALEN]; /* CAN message data (0-8 byte) */
|
||||||
|
};
|
||||||
|
|
||||||
|
/* This structure defines a CAN message FIFO. */
|
||||||
|
|
||||||
|
struct can_fifo_s
|
||||||
|
{
|
||||||
|
sem_t cf_sem; /* Counting semaphore */
|
||||||
|
ubyte cf_head; /* Index to the head [IN] index in the circular buffer */
|
||||||
|
ubyte cf_tail; /* Index to the tail [OUT] index in the circular buffer */
|
||||||
|
/* Circular buffer of CAN messages */
|
||||||
|
struct can_msg_s cf_buffer[CONFIG_CAN_FIFOSIZE];
|
||||||
|
};
|
||||||
|
|
||||||
|
/* The following structure define the logic to handle one RTR message transaction */
|
||||||
|
|
||||||
|
struct can_rtrwait_s
|
||||||
|
{
|
||||||
|
sem_t cr_sem; /* Wait for RTR response */
|
||||||
|
uint16 cr_id; /* The ID that is waited for */
|
||||||
|
FAR struct can_msg_s *cr_msg; /* This is where the RTR reponse goes */
|
||||||
|
};
|
||||||
|
|
||||||
|
/* This structure defines all of the operations providd by the architecture specific
|
||||||
|
* logic. All fields must be provided with non-NULL function pointers by the
|
||||||
|
* caller of can_register().
|
||||||
|
*/
|
||||||
|
|
||||||
|
struct can_dev_s;
|
||||||
|
struct can_ops_s
|
||||||
|
{
|
||||||
|
/* Reset the CAN device. Called early to initialize the hardware. This
|
||||||
|
* is called, before co_setup() and on error conditions.
|
||||||
|
*/
|
||||||
|
|
||||||
|
CODE void (*co_reset)(FAR struct can_dev_s *dev);
|
||||||
|
|
||||||
|
/* Configure the CAN. This method is called the first time that the CAN
|
||||||
|
* device is opened. This will occur when the port is first opened.
|
||||||
|
* This setup includes configuring and attaching CAN interrupts. Interrupts
|
||||||
|
* are all disabled upon return.
|
||||||
|
*/
|
||||||
|
|
||||||
|
CODE int (*co_setup)(FAR struct can_dev_s *dev);
|
||||||
|
|
||||||
|
/* Disable the CAN. This method is called when the CAN device is closed.
|
||||||
|
* This method reverses the operation the setup method.
|
||||||
|
*/
|
||||||
|
|
||||||
|
CODE void (*co_shutdown)(FAR struct can_dev_s *dev);
|
||||||
|
|
||||||
|
/* Call to enable or disable RX interrupts */
|
||||||
|
|
||||||
|
CODE void (*co_rxint)(FAR struct can_dev_s *dev, boolean enable);
|
||||||
|
|
||||||
|
/* Call to enable or disable TX interrupts */
|
||||||
|
|
||||||
|
CODE void (*co_txint)(FAR struct can_dev_s *dev, boolean enable);
|
||||||
|
|
||||||
|
/* All ioctl calls will be routed through this method */
|
||||||
|
|
||||||
|
CODE int (*co_ioctl)(FAR struct can_dev_s *dev, int cmd, unsigned long arg);
|
||||||
|
|
||||||
|
/* Send a remote request */
|
||||||
|
|
||||||
|
CODE int (*co_remoterequest)(FAR struct can_dev_s *dev, uint16 id);
|
||||||
|
|
||||||
|
/* This method will send one message on the CAN */
|
||||||
|
|
||||||
|
CODE int (*co_send)(FAR struct can_dev_s *dev, FAR struct can_msg_s *msg);
|
||||||
|
|
||||||
|
/* Return TRUE if all message have been sent. If for example, the CAN
|
||||||
|
* hardware implements FIFOs, then this would mean the the transmit FIFO is
|
||||||
|
* empty. This method is called when the driver needs to make sure that
|
||||||
|
* all characters are "drained" from the TX hardware before calling co_shutdown().
|
||||||
|
*/
|
||||||
|
|
||||||
|
CODE boolean (*co_txempty)(FAR struct can_dev_s *dev);
|
||||||
|
};
|
||||||
|
|
||||||
|
/* This is the device structure used by the driver. The caller of
|
||||||
|
* can_register() must allocate and initialize this structure. The
|
||||||
|
* calling logic need only set all fields to zero except:
|
||||||
|
*
|
||||||
|
* The elements of 'cd_ops', and 'cd_priv'
|
||||||
|
*
|
||||||
|
* The common logic will initialize all semaphores.
|
||||||
|
*/
|
||||||
|
|
||||||
|
struct can_dev_s
|
||||||
|
{
|
||||||
|
int cd_ocount; /* The number of times the device has been opened */
|
||||||
|
int cd_npendrtr; /* Number of pending RTR messages */
|
||||||
|
sem_t cd_closesem; /* Locks out new opens while close is in progress */
|
||||||
|
sem_t cd_recvsem; /* Used to wakeup user waiting for space in cd_recv.buffer */
|
||||||
|
struct can_fifo_s cd_xmit; /* Describes transmit FIFO */
|
||||||
|
struct can_fifo_s cd_recv; /* Describes receive FIFO */
|
||||||
|
/* List of pending RTR requests */
|
||||||
|
struct can_rtrwait_s cd_rtr[CONFIG_CAN_NPENDINGRTR];
|
||||||
|
FAR const struct can_ops_s *cd_ops; /* Arch-specific operations */
|
||||||
|
FAR void *cd_priv; /* Used by the arch-specific logic */
|
||||||
|
};
|
||||||
|
|
||||||
|
/* Structures used with ioctl calls */
|
||||||
|
|
||||||
|
struct canioctl_rtr_s
|
||||||
|
{
|
||||||
|
uint16 ci_id; /* The ID to use in the RTR message */
|
||||||
|
FAR struct can_msg_s *ci_msg; /* The location to return the RTR response */
|
||||||
|
};
|
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Public Data
|
||||||
|
************************************************************************************/
|
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Public Functions
|
||||||
|
************************************************************************************/
|
||||||
|
|
||||||
|
#undef EXTERN
|
||||||
|
#if defined(__cplusplus)
|
||||||
|
#define EXTERN extern "C"
|
||||||
|
extern "C" {
|
||||||
|
#else
|
||||||
|
#define EXTERN extern
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Name: can_register
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* Register serial console and serial ports.
|
||||||
|
*
|
||||||
|
************************************************************************************/
|
||||||
|
|
||||||
|
EXTERN int can_register(FAR const char *path, FAR struct can_dev_s *dev);
|
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Name: can_receive
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* Called from the CAN interrupt handler when new read data is available
|
||||||
|
*
|
||||||
|
* Parameters:
|
||||||
|
* dev - The specifi CAN device
|
||||||
|
* hdr - The 16-bit CAN header
|
||||||
|
* data - An array contain the CAN data.
|
||||||
|
*
|
||||||
|
* Return:
|
||||||
|
* OK on success; a negated errno on failure.
|
||||||
|
*
|
||||||
|
************************************************************************************/
|
||||||
|
|
||||||
|
EXTERN int can_receive(FAR struct can_dev_s *dev, uint16 hdr, FAR ubyte *data);
|
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Name: can_txdone
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* Called from the CAN interrupt handler at the completion of a send operation.
|
||||||
|
*
|
||||||
|
* Parameters:
|
||||||
|
* dev - The specifi CAN device
|
||||||
|
* hdr - The 16-bit CAN header
|
||||||
|
* data - An array contain the CAN data.
|
||||||
|
*
|
||||||
|
* Return:
|
||||||
|
* OK on success; a negated errno on failure.
|
||||||
|
*
|
||||||
|
************************************************************************************/
|
||||||
|
|
||||||
|
EXTERN int can_txdone(FAR struct can_dev_s *dev);
|
||||||
|
|
||||||
|
#undef EXTERN
|
||||||
|
#if defined(__cplusplus)
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#endif /* __NUTTX_CAN_H */
|
|
@ -171,7 +171,7 @@ struct uart_ops_s
|
||||||
* uart_register() must allocate and initialize this structure. The
|
* uart_register() must allocate and initialize this structure. The
|
||||||
* calling logic need only set all fields to zero except:
|
* calling logic need only set all fields to zero except:
|
||||||
*
|
*
|
||||||
* 'irq', 'isconsole', 'xmit.buffer', 'rcv.buffer', the elements
|
* 'isconsole', 'xmit.buffer', 'rcv.buffer', the elements
|
||||||
* of 'ops', and 'private'
|
* of 'ops', and 'private'
|
||||||
*
|
*
|
||||||
* The common logic will initialize all semaphores.
|
* The common logic will initialize all semaphores.
|
||||||
|
|
Loading…
Reference in New Issue