Mercurial > ecos-v3_0-branch

annotate packages/devs/can/loop/current/src/loop_can.c @ 2424:4c366bd69cd5

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* tests/can_overrun1.c (can0_thread): Fix the length of the data in the message. Add a delay to allow the CAN device to process the packets. * test/can_txcevent.c: (can0_thread): Add a delay to allow the CAN device to process the packet.s * src/loop_can.c (FIFO_SIZE): Changed to one more than the TX queue size. If it is less, the loopback tests don't pass because packets don't get transmitted.
author asl
date Tue, 28 Aug 2007 15:56:03 +0000
parents c6f0c6300d8b
children 74dbf4c3f2e1
Ignore whitespace changes - Everywhere: Within whitespace: At end of lines:
rev   line source
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1 //==========================================================================
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2 //
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3 // loop_can.c
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4 //
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5 // Loopback CAN device driver
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6 //
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7 //==========================================================================
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8 //####ECOSGPLCOPYRIGHTBEGIN####
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9 // -------------------------------------------
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10 // This file is part of eCos, the Embedded Configurable Operating System.
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11 // Copyright (C) 1998, 1999, 2000, 2001, 2002 Red Hat, Inc.
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12 //
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13 // eCos is free software; you can redistribute it and/or modify it under
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14 // the terms of the GNU General Public License as published by the Free
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15 // Software Foundation; either version 2 or (at your option) any later version.
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16 //
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17 // eCos is distributed in the hope that it will be useful, but WITHOUT ANY
9486e0f8136d CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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18 // WARRANTY; without even the implied warranty of MERCHANTABILITY or
9486e0f8136d CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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19 // FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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20 // for more details.
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21 //
9486e0f8136d CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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22 // You should have received a copy of the GNU General Public License along
9486e0f8136d CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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23 // with eCos; if not, write to the Free Software Foundation, Inc.,
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24 // 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
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25 //
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26 // As a special exception, if other files instantiate templates or use macros
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27 // or inline functions from this file, or you compile this file and link it
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28 // with other works to produce a work based on this file, this file does not
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29 // by itself cause the resulting work to be covered by the GNU General Public
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30 // License. However the source code for this file must still be made available
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31 // in accordance with section (3) of the GNU General Public License.
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32 //
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33 // This exception does not invalidate any other reasons why a work based on
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34 // this file might be covered by the GNU General Public License.
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35 //
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36 // Alternative licenses for eCos may be arranged by contacting Red Hat, Inc.
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37 // at http://sources.redhat.com/ecos/ecos-license/
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38 // -------------------------------------------
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39 //####ECOSGPLCOPYRIGHTEND####
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40 //==========================================================================
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41 //#####DESCRIPTIONBEGIN####
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42 //
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43 // Author(s): Uwe Kindler
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44 // Contributors: Uwe Kindler
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45 // Date: 2005-07-10
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46 // Purpose: Loopback CAN device driver
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47 // Description: This device driver implements a pair of CAN lines that are
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48 // connected back-to-back. Data output to one will appear as
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49 // input on the other. This process in part driven by an alarm
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50 // object which provides a degree of separation between the two
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51 // channels.
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52 //
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53 //####DESCRIPTIONEND####
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54 //
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55 //==========================================================================
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56
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57 #include <pkgconf/hal.h>
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58 #include <pkgconf/io_can.h>
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59 #include <pkgconf/devs_can_loop.h>
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60 #include <cyg/hal/hal_io.h>
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61
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62 #include <cyg/io/io.h>
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63 #include <cyg/io/devtab.h>
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64 #include <cyg/io/can.h>
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65 #include <cyg/hal/hal_intr.h>
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66 #include <cyg/kernel/kapi.h>
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67
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68 #ifdef CYGPKG_DEVS_CAN_LOOP
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69
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70 //-------------------------------------------------------------------------
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71
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72 extern void diag_printf(const char *fmt, ...);
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73
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74 //-------------------------------------------------------------------------
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75 // Forward definitions
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76
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77 static bool loop_can_init(struct cyg_devtab_entry *devtab_entry);
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78 static bool loop_can_putmsg(can_channel *priv, cyg_can_message *pmsg, void *pdata);
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79 static Cyg_ErrNo loop_can_lookup(struct cyg_devtab_entry **tab,
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80 struct cyg_devtab_entry *sub_tab,
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81 const char *name);
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82 static bool loop_can_getevent(can_channel *priv, cyg_can_event *pevent, void *pdata);
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83 static Cyg_ErrNo loop_can_set_config(can_channel *chan, cyg_uint32 key,
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84 const void *xbuf, cyg_uint32 *len);
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85 static Cyg_ErrNo loop_can_get_config(can_channel *chan, cyg_uint32 key,
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86 const void* buf, cyg_uint32* len);
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87 static void loop_can_start_xmit(can_channel *chan);
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88 static void loop_can_stop_xmit(can_channel *chan);
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89
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90 static void alarm_handler(cyg_handle_t alarm, cyg_addrword_t data);
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91
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92
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93 //-------------------------------------------------------------------------
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94 // Alarm object for feeding data back into CAN channels
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95
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96 static cyg_alarm alarm_obj;
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97
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98 static cyg_handle_t alarm_handle;
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99
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100 //-------------------------------------------------------------------------
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101 // Transfer FIFOs
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102
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103 #define FIFO_SIZE 33
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104
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105 struct fifo
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106 {
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107 cyg_bool tx_enable;
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108 volatile int head;
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109 volatile int tail;
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110 volatile int num;
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111 volatile cyg_can_event buf[FIFO_SIZE+1];
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112 };
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113
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114 static struct fifo fifo0 = { false, 0, 0, 0 }; // from CAN0 to CAN1
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115 static struct fifo fifo1 = { false, 0, 0, 0 }; // from CAN1 to CAN0
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116
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117 //-------------------------------------------------------------------------
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118
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119 #define BUFSIZE 128
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120
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121 //-------------------------------------------------------------------------
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122 // Info for each serial device controlled
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123
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124 typedef struct loop_can_info {
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125 struct fifo *write_fifo;
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126 struct fifo *read_fifo;
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127 } loop_can_info;
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128
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129 //-------------------------------------------------------------------------
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130 // Callback functions exported by this driver
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131 CAN_LOWLEVEL_FUNS(loop_can_lowlevel_funs,
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132 loop_can_putmsg,
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133 loop_can_getevent,
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134 loop_can_get_config,
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135 loop_can_set_config,
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136 loop_can_start_xmit,
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137 loop_can_stop_xmit
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138 );
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139
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140 //-------------------------------------------------------------------------
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141 // Hardware info for each serial line
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142
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143 #ifdef CYGPKG_DEVS_CAN_LOOP_CAN0
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144 static loop_can_info loop_can_info0 = {
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145 &fifo0,
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146 &fifo1
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147 };
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148
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149 static cyg_can_message loop_can_txbuf0[CYGNUM_DEVS_CAN_LOOP_CAN0_QUEUESIZE_TX];
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150 static cyg_can_event loop_can_rxbuf0[CYGNUM_DEVS_CAN_LOOP_CAN0_QUEUESIZE_RX];
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151 #endif // CYGPKG_IO_SERIAL_LOOP_SERIAL0
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152
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153 #ifdef CYGPKG_DEVS_CAN_LOOP_CAN1
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154 static loop_can_info loop_can_info1 = {
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155 &fifo1,
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156 &fifo0
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157 };
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158
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159 static cyg_can_message loop_can_txbuf1[CYGNUM_DEVS_CAN_LOOP_CAN1_QUEUESIZE_TX];
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160 static cyg_can_event loop_can_rxbuf1[CYGNUM_DEVS_CAN_LOOP_CAN1_QUEUESIZE_RX];
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161 #endif // CYGPKG_IO_SERIAL_LOOP_SERIAL1
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162
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163
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164
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165 //-------------------------------------------------------------------------
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166 // Channel descriptions:
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167 //
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168 #ifdef CYGPKG_DEVS_CAN_LOOP_CAN0
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169 CAN_CHANNEL_USING_INTERRUPTS(loop_can0_chan,
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170 loop_can_lowlevel_funs,
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171 loop_can_info0,
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172 CYG_CAN_BAUD_RATE(CYGNUM_DEVS_CAN_LOOP_CAN0_KBAUD),
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173 loop_can_txbuf0, CYGNUM_DEVS_CAN_LOOP_CAN0_QUEUESIZE_TX,
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174 loop_can_rxbuf0, CYGNUM_DEVS_CAN_LOOP_CAN0_QUEUESIZE_RX
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175 );
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176 #endif // CYGPKG_DEVS_CAN_LOOP_CAN1
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177
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178 #ifdef CYGPKG_DEVS_CAN_LOOP_CAN1
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179 CAN_CHANNEL_USING_INTERRUPTS(loop_can1_chan,
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180 loop_can_lowlevel_funs,
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181 loop_can_info1,
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182 CYG_CAN_BAUD_RATE(CYGNUM_DEVS_CAN_LOOP_CAN1_KBAUD),
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183 loop_can_txbuf1, CYGNUM_DEVS_CAN_LOOP_CAN1_QUEUESIZE_TX,
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184 loop_can_rxbuf1, CYGNUM_DEVS_CAN_LOOP_CAN1_QUEUESIZE_RX
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185 );
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186 #endif // CYGPKG_DEVS_CAN_LOOP_CAN1
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187
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188
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189
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190 //-------------------------------------------------------------------------
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191 // And finally, the device table entries:
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192 //
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193 #ifdef CYGPKG_DEVS_CAN_LOOP_CAN0
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194 DEVTAB_ENTRY(loop_can_io0,
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195 CYGDAT_DEVS_CAN_LOOP_CAN0_NAME,
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196 0, // Does not depend on a lower level interface
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197 &cyg_io_can_devio,
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198 loop_can_init,
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199 loop_can_lookup, // CAN driver may need initializing
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200 &loop_can0_chan
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201 );
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202 #endif // CYGPKG_DEVS_CAN_LOOP_CAN0
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203
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204 #ifdef CYGPKG_DEVS_CAN_LOOP_CAN1
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205 DEVTAB_ENTRY(loop_can_io1,
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206 CYGDAT_DEVS_CAN_LOOP_CAN1_NAME,
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207 0, // Does not depend on a lower level interface
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208 &cyg_io_can_devio,
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209 loop_can_init,
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210 loop_can_lookup, // CAN driver may need initializing
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211 &loop_can1_chan
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212 );
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213 #endif // CYGPKG_DEVS_CAN_LOOP_CAN1
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214
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215 //-------------------------------------------------------------------------
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216
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217 static bool
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218 loop_can_config_channel(can_channel *chan, cyg_can_info_t *new_config, bool init)
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219 {
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220 if (new_config != &chan->config) {
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221 chan->config = *new_config;
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222 }
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223 return true;
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224 }
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225
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226 //-------------------------------------------------------------------------
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227 // Function to initialize the device. Called at bootstrap time.
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228
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229 bool loop_can_init(struct cyg_devtab_entry *tab)
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230 {
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231 can_channel *chan = (can_channel *)tab->priv;
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232
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233 (chan->callbacks->can_init)(chan);
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234
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235 // Set up alarm for feeding data back into channels
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236
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237 cyg_alarm_create( cyg_real_time_clock(),
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238 alarm_handler,
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239 0,
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240 &alarm_handle,
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241 &alarm_obj);
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242
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243 cyg_alarm_initialize( alarm_handle, 1, 1 );
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244
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245 loop_can_config_channel(chan, &chan->config, true);
9486e0f8136d CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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246
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247 return true;
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248 }
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249
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250 //-------------------------------------------------------------------------
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251 // This routine is called when the device is "looked" up (i.e. attached)
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252
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253 static Cyg_ErrNo
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254 loop_can_lookup(struct cyg_devtab_entry **tab,
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255 struct cyg_devtab_entry *sub_tab,
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256 const char *name)
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257 {
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258 can_channel *chan = (can_channel *)(*tab)->priv;
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259 (chan->callbacks->can_init)(chan);
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260 return ENOERR;
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261 }
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262
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263 //-------------------------------------------------------------------------
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264 // Return 'true' if message is sent to device
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265
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266 bool
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267 loop_can_putmsg(can_channel *chan, cyg_can_message *pmsg, void *pdata)
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268 {
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269 loop_can_info *loop_chan = (loop_can_info *)chan->dev_priv;
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270
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271 struct fifo *fwr = loop_chan->write_fifo;
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272 #ifdef CYGOPT_IO_CAN_TX_EVENT_SUPPORT
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273 struct fifo *frd = loop_chan->read_fifo;
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274 #endif
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275
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276 if( fwr->num == FIFO_SIZE )
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277 {
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278 return false;
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279 }
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280
9486e0f8136d CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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281 fwr->buf[fwr->tail].msg = *pmsg;
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282 fwr->buf[fwr->tail].flags = CYGNUM_CAN_EVENT_RX;
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283 fwr->num++;
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284 fwr->tail = (fwr->tail + 1) % FIFO_SIZE;
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285
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286 #ifdef CYGOPT_IO_CAN_TX_EVENT_SUPPORT
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287 //
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288 // if TX events are supported we insert a TX event into read fifo
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289 //
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290 if( frd->num < FIFO_SIZE )
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291 {
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292 frd->buf[frd->tail].msg = *pmsg;
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293 frd->buf[frd->tail].flags = CYGNUM_CAN_EVENT_TX;
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294 frd->num++;
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295 frd->tail = (frd->tail + 1) % FIFO_SIZE;
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296 }
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297 #endif
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298
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299 return true;
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300 }
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301
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302 //-------------------------------------------------------------------------
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303
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304 bool loop_can_getevent(can_channel *chan, cyg_can_event *pevent, void *pdata)
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305 {
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306 loop_can_info *loop_chan = (loop_can_info *)chan->dev_priv;
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307
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308 struct fifo *frd = loop_chan->read_fifo;
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309
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310 while( frd->num == 0 )
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311 {
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312 continue;
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313 }
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314
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315 *pevent = frd->buf[frd->head];
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316
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317
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318 #ifdef CYGOPT_IO_CAN_SUPPORT_TIMESTAMP
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319 //
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320 // if timestamps are supported then we store a actual timestamp into
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321 // CAN event
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322 //
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323 pevent->timestamp = cyg_current_time();
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324 #endif // CYGOPT_IO_CAN_SUPPORT_TIMESTAMP
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325
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326 frd->num--;
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327 frd->head = (frd->head + 1) % FIFO_SIZE;
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328
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329 return true;
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330 }
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331
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332 //-------------------------------------------------------------------------
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333
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334 static Cyg_ErrNo
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335 loop_can_set_config(can_channel *chan, cyg_uint32 key,
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336 const void *xbuf, cyg_uint32 *len)
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337 {
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338 return ENOERR;
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339 }
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340
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341 //-------------------------------------------------------------------------
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342 // Query device configuration
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343
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344 static Cyg_ErrNo
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345 loop_can_get_config(can_channel *chan, cyg_uint32 key,
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346 const void* buf, cyg_uint32* len)
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347 {
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348 return ENOERR;
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349 }
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350
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351
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352 //-------------------------------------------------------------------------
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353 // Enable the transmitter on the device
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354
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355 static void
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356 loop_can_start_xmit(can_channel *chan)
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357 {
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358 loop_can_info *loop_chan = (loop_can_info *)chan->dev_priv;
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359
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360 loop_chan->write_fifo->tx_enable = true;
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361
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362 (chan->callbacks->xmt_msg)(chan, 0);
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363 }
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364
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365 //-------------------------------------------------------------------------
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366 // Disable the transmitter on the device
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367
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368 static void
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369 loop_can_stop_xmit(can_channel *chan)
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370 {
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371 loop_can_info *loop_chan = (loop_can_info *)chan->dev_priv;
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372
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373 loop_chan->write_fifo->tx_enable = false;
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374 }
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375
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376 //-------------------------------------------------------------------------
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377
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378 static void alarm_handler(cyg_handle_t alarm, cyg_addrword_t data)
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379 {
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380 can_channel *chan0 = &loop_can0_chan;
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381 can_channel *chan1 = &loop_can1_chan;
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382
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383
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384 while(fifo0.num )
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385 {
9486e0f8136d CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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386 (chan1->callbacks->rcv_event)(chan1, 0);
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387
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388 if(fifo0.tx_enable )
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389 {
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390 (chan0->callbacks->xmt_msg)(chan0, 0);
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391 }
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392 }
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393
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394 while(fifo1.num )
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395 {
9486e0f8136d CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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396 (chan0->callbacks->rcv_event)(chan0, 0);
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diff changeset
397
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398 if(fifo1.tx_enable )
9486e0f8136d CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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399 {
9486e0f8136d CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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400 (chan1->callbacks->xmt_msg)(chan1, 0);
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401 }
9486e0f8136d CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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402 } // while( fifo1.num )
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403 }
9486e0f8136d CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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diff changeset
404
9486e0f8136d CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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405
9486e0f8136d CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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406 #endif // CYGPKG_IO_CAN_LOOP
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407
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408 //-------------------------------------------------------------------------
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409 // EOF loop_can.c