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annotate packages/devs/can/loop/current/src/loop_can.c @ 2863:7d8c61e6225c default tip

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* Added execute permissions to files missed in conversion from CVS
author alexs
date Thu, 26 Mar 2009 20:39:18 +0000
parents 3caad2060bd3
children
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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 Free Software Foundation, 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
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16 // version.
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17 //
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18 // eCos is distributed in the hope that it will be useful, but WITHOUT
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19 // ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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20 // FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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21 // for more details.
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22 //
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23 // You should have received a copy of the GNU General Public License
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24 // along with eCos; if not, write to the Free Software Foundation, Inc.,
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25 // 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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26 //
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27 // As a special exception, if other files instantiate templates or use
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28 // macros or inline functions from this file, or you compile this file
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29 // and link it with other works to produce a work based on this file,
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30 // this file does not by itself cause the resulting work to be covered by
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31 // the GNU General Public License. However the source code for this file
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32 // must still be made available in accordance with section (3) of the GNU
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33 // General Public License v2.
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34 //
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35 // This exception does not invalidate any other reasons why a work based
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36 // on this file might be covered by the GNU General Public License.
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37 // -------------------------------------------
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38 // ####ECOSGPLCOPYRIGHTEND####
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39 //==========================================================================
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40 //#####DESCRIPTIONBEGIN####
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41 //
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42 // Author(s): Uwe Kindler
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43 // Contributors: Uwe Kindler
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44 // Date: 2005-07-10
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45 // Purpose: Loopback CAN device driver
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46 // Description: This device driver implements a pair of CAN lines that are
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47 // connected back-to-back. Data output to one will appear as
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48 // input on the other. This process in part driven by an alarm
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49 // object which provides a degree of separation between the two
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50 // channels.
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51 //
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52 //####DESCRIPTIONEND####
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53 //
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54 //==========================================================================
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55
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56 #include <pkgconf/hal.h>
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57 #include <pkgconf/io_can.h>
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58 #include <pkgconf/devs_can_loop.h>
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59 #include <cyg/hal/hal_io.h>
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60
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61 #include <cyg/io/io.h>
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62 #include <cyg/io/devtab.h>
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63 #include <cyg/io/can.h>
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64 #include <cyg/hal/hal_intr.h>
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65 #include <cyg/kernel/kapi.h>
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66
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67 #ifdef CYGPKG_DEVS_CAN_LOOP
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68
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69 //-------------------------------------------------------------------------
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70
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71 extern void diag_printf(const char *fmt, ...);
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72
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73 //-------------------------------------------------------------------------
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74 // Forward definitions
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75
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76 static bool loop_can_init(struct cyg_devtab_entry *devtab_entry);
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77 static bool loop_can_putmsg(can_channel *priv, cyg_can_message *pmsg, void *pdata);
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78 static Cyg_ErrNo loop_can_lookup(struct cyg_devtab_entry **tab,
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79 struct cyg_devtab_entry *sub_tab,
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80 const char *name);
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81 static bool loop_can_getevent(can_channel *priv, cyg_can_event *pevent, void *pdata);
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82 static Cyg_ErrNo loop_can_set_config(can_channel *chan, cyg_uint32 key,
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83 const void *xbuf, cyg_uint32 *len);
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84 static Cyg_ErrNo loop_can_get_config(can_channel *chan, cyg_uint32 key,
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85 const void* buf, cyg_uint32* len);
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86 static void loop_can_start_xmit(can_channel *chan);
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87 static void loop_can_stop_xmit(can_channel *chan);
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88
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89 static void alarm_handler(cyg_handle_t alarm, cyg_addrword_t data);
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90
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91
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92 //-------------------------------------------------------------------------
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93 // Alarm object for feeding data back into CAN channels
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94
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95 static cyg_alarm alarm_obj;
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96
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97 static cyg_handle_t alarm_handle;
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98
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99 //-------------------------------------------------------------------------
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100 // Transfer FIFOs
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101
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102 #define FIFO_SIZE 33
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103
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104 struct fifo
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105 {
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106 cyg_bool tx_enable;
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107 volatile int head;
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108 volatile int tail;
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109 volatile int num;
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110 volatile cyg_can_event buf[FIFO_SIZE+1];
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111 };
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112
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113 static struct fifo fifo0 = { false, 0, 0, 0 }; // from CAN0 to CAN1
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114 static struct fifo fifo1 = { false, 0, 0, 0 }; // from CAN1 to CAN0
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115
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116 //-------------------------------------------------------------------------
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117
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118 #define BUFSIZE 128
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119
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120 //-------------------------------------------------------------------------
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121 // Info for each serial device controlled
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122
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123 typedef struct loop_can_info {
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124 struct fifo *write_fifo;
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125 struct fifo *read_fifo;
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126 } loop_can_info;
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127
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128 //-------------------------------------------------------------------------
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129 // Callback functions exported by this driver
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130 CAN_LOWLEVEL_FUNS(loop_can_lowlevel_funs,
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131 loop_can_putmsg,
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132 loop_can_getevent,
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133 loop_can_get_config,
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134 loop_can_set_config,
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135 loop_can_start_xmit,
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136 loop_can_stop_xmit
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137 );
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138
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139 //-------------------------------------------------------------------------
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140 // Hardware info for each serial line
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141
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142 #ifdef CYGPKG_DEVS_CAN_LOOP_CAN0
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143 static loop_can_info loop_can_info0 = {
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144 &fifo0,
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145 &fifo1
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146 };
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147
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148 static cyg_can_message loop_can_txbuf0[CYGNUM_DEVS_CAN_LOOP_CAN0_QUEUESIZE_TX];
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149 static cyg_can_event loop_can_rxbuf0[CYGNUM_DEVS_CAN_LOOP_CAN0_QUEUESIZE_RX];
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150 #endif // CYGPKG_IO_SERIAL_LOOP_SERIAL0
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151
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152 #ifdef CYGPKG_DEVS_CAN_LOOP_CAN1
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153 static loop_can_info loop_can_info1 = {
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154 &fifo1,
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155 &fifo0
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156 };
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157
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158 static cyg_can_message loop_can_txbuf1[CYGNUM_DEVS_CAN_LOOP_CAN1_QUEUESIZE_TX];
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159 static cyg_can_event loop_can_rxbuf1[CYGNUM_DEVS_CAN_LOOP_CAN1_QUEUESIZE_RX];
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160 #endif // CYGPKG_IO_SERIAL_LOOP_SERIAL1
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161
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162
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163
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164 //-------------------------------------------------------------------------
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165 // Channel descriptions:
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166 //
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167 #ifdef CYGPKG_DEVS_CAN_LOOP_CAN0
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168 CAN_CHANNEL_USING_INTERRUPTS(loop_can0_chan,
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169 loop_can_lowlevel_funs,
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170 loop_can_info0,
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171 CYG_CAN_BAUD_RATE(CYGNUM_DEVS_CAN_LOOP_CAN0_KBAUD),
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172 loop_can_txbuf0, CYGNUM_DEVS_CAN_LOOP_CAN0_QUEUESIZE_TX,
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173 loop_can_rxbuf0, CYGNUM_DEVS_CAN_LOOP_CAN0_QUEUESIZE_RX
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174 );
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175 #endif // CYGPKG_DEVS_CAN_LOOP_CAN1
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176
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177 #ifdef CYGPKG_DEVS_CAN_LOOP_CAN1
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178 CAN_CHANNEL_USING_INTERRUPTS(loop_can1_chan,
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179 loop_can_lowlevel_funs,
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180 loop_can_info1,
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181 CYG_CAN_BAUD_RATE(CYGNUM_DEVS_CAN_LOOP_CAN1_KBAUD),
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182 loop_can_txbuf1, CYGNUM_DEVS_CAN_LOOP_CAN1_QUEUESIZE_TX,
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183 loop_can_rxbuf1, CYGNUM_DEVS_CAN_LOOP_CAN1_QUEUESIZE_RX
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184 );
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185 #endif // CYGPKG_DEVS_CAN_LOOP_CAN1
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186
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187
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188
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189 //-------------------------------------------------------------------------
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190 // And finally, the device table entries:
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191 //
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192 #ifdef CYGPKG_DEVS_CAN_LOOP_CAN0
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193 DEVTAB_ENTRY(loop_can_io0,
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194 CYGDAT_DEVS_CAN_LOOP_CAN0_NAME,
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195 0, // Does not depend on a lower level interface
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196 &cyg_io_can_devio,
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197 loop_can_init,
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198 loop_can_lookup, // CAN driver may need initializing
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199 &loop_can0_chan
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200 );
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201 #endif // CYGPKG_DEVS_CAN_LOOP_CAN0
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202
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203 #ifdef CYGPKG_DEVS_CAN_LOOP_CAN1
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204 DEVTAB_ENTRY(loop_can_io1,
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205 CYGDAT_DEVS_CAN_LOOP_CAN1_NAME,
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206 0, // Does not depend on a lower level interface
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207 &cyg_io_can_devio,
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208 loop_can_init,
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209 loop_can_lookup, // CAN driver may need initializing
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210 &loop_can1_chan
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211 );
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212 #endif // CYGPKG_DEVS_CAN_LOOP_CAN1
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213
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214 //-------------------------------------------------------------------------
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215
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216 static bool
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217 loop_can_config_channel(can_channel *chan, cyg_can_info_t *new_config, bool init)
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218 {
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219 if (new_config != &chan->config) {
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220 chan->config = *new_config;
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221 }
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222 return true;
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223 }
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224
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225 //-------------------------------------------------------------------------
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226 // Function to initialize the device. Called at bootstrap time.
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227
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228 bool loop_can_init(struct cyg_devtab_entry *tab)
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229 {
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230 can_channel *chan = (can_channel *)tab->priv;
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231
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232 (chan->callbacks->can_init)(chan);
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233
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234 // Set up alarm for feeding data back into channels
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235
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236 cyg_alarm_create( cyg_real_time_clock(),
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237 alarm_handler,
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238 0,
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239 &alarm_handle,
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240 &alarm_obj);
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241
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242 cyg_alarm_initialize( alarm_handle, 1, 1 );
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243
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244 loop_can_config_channel(chan, &chan->config, true);
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245
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246 return true;
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247 }
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248
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249 //-------------------------------------------------------------------------
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250 // This routine is called when the device is "looked" up (i.e. attached)
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251
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252 static Cyg_ErrNo
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253 loop_can_lookup(struct cyg_devtab_entry **tab,
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254 struct cyg_devtab_entry *sub_tab,
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255 const char *name)
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256 {
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257 can_channel *chan = (can_channel *)(*tab)->priv;
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258 (chan->callbacks->can_init)(chan);
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259 return ENOERR;
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260 }
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261
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262 //-------------------------------------------------------------------------
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263 // Return 'true' if message is sent to device
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264
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265 bool
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266 loop_can_putmsg(can_channel *chan, cyg_can_message *pmsg, void *pdata)
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267 {
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268 loop_can_info *loop_chan = (loop_can_info *)chan->dev_priv;
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269
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270 struct fifo *fwr = loop_chan->write_fifo;
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271 #ifdef CYGOPT_IO_CAN_TX_EVENT_SUPPORT
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272 struct fifo *frd = loop_chan->read_fifo;
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273 #endif
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274
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275 if( fwr->num == FIFO_SIZE )
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276 {
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277 return false;
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278 }
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279
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280 fwr->buf[fwr->tail].msg = *pmsg;
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281 fwr->buf[fwr->tail].flags = CYGNUM_CAN_EVENT_RX;
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282 fwr->num++;
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283 fwr->tail = (fwr->tail + 1) % FIFO_SIZE;
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284
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285 #ifdef CYGOPT_IO_CAN_TX_EVENT_SUPPORT
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286 //
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287 // if TX events are supported we insert a TX event into read fifo
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288 //
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289 if( frd->num < FIFO_SIZE )
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290 {
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291 frd->buf[frd->tail].msg = *pmsg;
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292 frd->buf[frd->tail].flags = CYGNUM_CAN_EVENT_TX;
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293 frd->num++;
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294 frd->tail = (frd->tail + 1) % FIFO_SIZE;
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295 }
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296 #endif
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297
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298 return true;
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299 }
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300
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301 //-------------------------------------------------------------------------
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302
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303 bool loop_can_getevent(can_channel *chan, cyg_can_event *pevent, void *pdata)
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304 {
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305 loop_can_info *loop_chan = (loop_can_info *)chan->dev_priv;
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306
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307 struct fifo *frd = loop_chan->read_fifo;
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jld
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308
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jld
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309 while( frd->num == 0 )
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jld
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310 {
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311 continue;
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312 }
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313
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314 *pevent = frd->buf[frd->head];
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jld
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315
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316
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317 #ifdef CYGOPT_IO_CAN_SUPPORT_TIMESTAMP
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318 //
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319 // if timestamps are supported then we store a actual timestamp into
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320 // CAN event
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321 //
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322 pevent->timestamp = cyg_current_time();
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323 #endif // CYGOPT_IO_CAN_SUPPORT_TIMESTAMP
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324
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325 frd->num--;
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jld
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326 frd->head = (frd->head + 1) % FIFO_SIZE;
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jld
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diff changeset
327
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328 return true;
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329 }
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330
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331 //-------------------------------------------------------------------------
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332
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333 static Cyg_ErrNo
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334 loop_can_set_config(can_channel *chan, cyg_uint32 key,
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335 const void *xbuf, cyg_uint32 *len)
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336 {
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337 return ENOERR;
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338 }
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339
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340 //-------------------------------------------------------------------------
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341 // Query device configuration
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342
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343 static Cyg_ErrNo
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344 loop_can_get_config(can_channel *chan, cyg_uint32 key,
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345 const void* buf, cyg_uint32* len)
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346 {
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347 return ENOERR;
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348 }
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349
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350
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351 //-------------------------------------------------------------------------
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352 // Enable the transmitter on the device
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353
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354 static void
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355 loop_can_start_xmit(can_channel *chan)
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356 {
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357 loop_can_info *loop_chan = (loop_can_info *)chan->dev_priv;
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358
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359 loop_chan->write_fifo->tx_enable = true;
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360
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361 (chan->callbacks->xmt_msg)(chan, 0);
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362 }
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363
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364 //-------------------------------------------------------------------------
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365 // Disable the transmitter on the device
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366
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367 static void
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368 loop_can_stop_xmit(can_channel *chan)
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369 {
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370 loop_can_info *loop_chan = (loop_can_info *)chan->dev_priv;
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371
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372 loop_chan->write_fifo->tx_enable = false;
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373 }
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374
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375 //-------------------------------------------------------------------------
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376
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377 static void alarm_handler(cyg_handle_t alarm, cyg_addrword_t data)
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378 {
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379 can_channel *chan0 = &loop_can0_chan;
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380 can_channel *chan1 = &loop_can1_chan;
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381
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382
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383 while(fifo0.num )
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384 {
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385 (chan1->callbacks->rcv_event)(chan1, 0);
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386
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387 if(fifo0.tx_enable )
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388 {
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389 (chan0->callbacks->xmt_msg)(chan0, 0);
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390 }
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391 }
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392
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393 while(fifo1.num )
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394 {
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395 (chan0->callbacks->rcv_event)(chan0, 0);
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396
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397 if(fifo1.tx_enable )
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398 {
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399 (chan1->callbacks->xmt_msg)(chan1, 0);
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400 }
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401 } // while( fifo1.num )
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402 }
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403
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404
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405 #endif // CYGPKG_IO_CAN_LOOP
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406
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407 //-------------------------------------------------------------------------
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408 // EOF loop_can.c