candrv.c

vxworks can 驱动

#include <stdio.h>
#include <iosLib.h>
#include <semlib.h>
#include <stdlib.h>
#include <string.h>
#include "can20b.h"
#include "configInum.h"
typedef struct {

DEV_HDR pCANHDR; /*这个数据结构必须放在设备描述符的最初部分*/

		/*其余与驱动有关数据*/

}CAN_DEV;/*CAN设备描述符*/
CAN_DEV Can_Dev_List[2];
int CanDrvNum=0;
BYTE Can0_Open,Can1_Open;
#define DevName1 "can0"
#define DevName2 "can1"
/*接收缓冲区*/
static BYTE rBuf[2][MAX_MSG_LENGTH];
/*接收状态变量*/
static volatile int rfirst[2]={0,0},rnext[2]={0,0};

/*发送缓冲区*/
static BYTE sBuf[2][MAX_MSG_LENGTH];
/*发送状态变量*/
static volatile int sfirst[2]={0,0},snext[2]={0,0};
static unsigned char tr_com=TR_Bit;

/*CAN控制器寄存器内存映射位置*/
static volatile unsigned char *gSeg;
#define XBYTE gSeg
/*错误状态：
	0: 无错误
	0x10: 段设置错误
	0x12: IRQ号设置错误
	0x20: 控制器0 总线脱离
	0x21: 控制器1 总线脱离
	0x22: 控制器0 总线错误 
	0x23: 控制器1 总线错误
	0x30: 控制器0 接收缓冲区满 
	0x31: 控制器1 接收缓冲区满
	0x200|(port<<8)|ArbLostCapReg值：仲裁丢失 
	0x0400|(port<<8)|ErrCodeCapReg值：总线错误中断中错误码
	0x0600|(port<<8)：error passive
*/
int can_err_no[2];
IMPORT BYTE	sysInumTbl[];			/* IRQ vs intNum table */
static BYTE port=0;
static BYTE div_reg_val[2];
/* CAN 控制器配置*/
static CANCFG canPara[2];
static SEM_ID sem_can[2];/*信号量,控制接收*/
static MSG_Q_ID canMsgQue[2]; /* 消息队列*/

static void can0_isr();
static void can1_isr();
static BYTE canr(BYTE port,int addr);
static void canw(BYTE port,int addr,BYTE v);
static void canNormalRun(BYTE port);
static int canInitHW();
static int canConfig(BYTE port,CANCFG cfg);
static int canSendMsg(BYTE port,CANMSG msg);
static int canReceiveMsg(BYTE port,CANMSG *msg_ptr);
static BYTE canExitHW(BYTE port);

int CanOpen(CAN_DEV *CANDev,char *remainder,int mode);
int CanRead(CAN_DEV *CANDev,char *buffer,int nBytes);
int CanWrite(CAN_DEV *CANDev,char *buffer,int nBytes);
int CanIoctl(CAN_DEV *CANDev,int requestCode,int arg);
int CanClose(CAN_DEV *CANDev);
/************************************************************
* canDrv- driver initialization routine
* 
* canDrv() initializes the driver. It installs the driver via
* iosDrvInstall. It may allocate data structures, connetct ISRs,
* and initialize hardware.
*/
void CanDrv()
{
    CanDrvNum=iosDrvInstall(0,0,CanOpen,CanClose,\
		CanRead,CanWrite,CanIoctl);
}
/************************************************************
*
* Called to add a device called <name> to be serviced by this driver.
* Other driver-dependent arguments may include buffer sizes,device 
* addresses... The routine adds the device to the I/O system by calling
* iosDevAdd. It may also allocate and initialize data structures for the 
* device, initialize semaphores, initialize device hardware, and so on.
*/
void CanDevCreate()
{
     int status;
     status = iosDevAdd (&(Can_Dev_List[0].pCANHDR), DevName1, CanDrvNum);
     status = iosDevAdd (&(Can_Dev_List[1].pCANHDR), DevName2, CanDrvNum);
     Can0_Open=0;
     Can1_Open=0;
     canInitHW();
}
/************************************************************
*
* The following routines implement the basic I/O functions. The xxOpen()
* return value is meaningful only to this driver, and is passed back as an
* argument to the other I/O routines.
*/
int CanOpen(CAN_DEV *CANDev,char *remainder, int mode)
{
    /*serial devices should have no file name part*/
    if (remainder[0] != 0)
    {
        return (ERROR); 
    } 
    else
    {
    	if((strcmp(CANDev->pCANHDR.name,"can0"))==0){
    		if(Can0_Open==0){
    		   Can0_Open=1;
    		   return ((int) CANDev); 
    		  }
    		if(Can0_Open==1){
    			return -1;
    		 }
    	}
	if((strcmp(CANDev->pCANHDR.name,"can1"))==0){
 		if(Can1_Open==0){
  		   Can1_Open=1;
  		   return ((int) CANDev); 
  		  }
  		if(Can1_Open==1){
  			return -1;
   		}
   	}
    }
}
/*从指定的CAN控制器接收消息包
	port:CAN控制器--0，控制器0；1，控制器1
	msg_ptr:指向消息结构变量，返回消息
  返回值：1，成功；0，无消息
*/
int CanRead(CAN_DEV *CANDev, char *buffer, int nBytes)
{	 
	BYTE Result=0,v;
	if((strcmp(CANDev->pCANHDR.name,"can0"))==0){
 		v=canr(port,StatusReg);
		canNormalRun(0);
     		Result=canReceiveMsg(0,(CANMSG *)buffer);
     		return Result;
	    }
	if((strcmp(CANDev->pCANHDR.name,"can1"))==0){
		v=canr(port,StatusReg);
     		canNormalRun(1);
     		Result=canReceiveMsg(1,(CANMSG *)buffer);
     		return Result;
	    }
}
/*由指定的CAN控制器发送消息包
	port:CAN控制器--0，控制器0；1，控制器1
	msg:要发送的消息
返回值：1，成功；0，失败
*/
int CanWrite(CAN_DEV *CANDev, char *buffer, int nBytes)
{
	BYTE Result=0,v;
	CANMSG S_MSG;
 	if((strcmp(CANDev->pCANHDR.name,"can0"))==0){
		v=canr(0,StatusReg);
	 	canNormalRun(0);
	     	S_MSG=(*((CANMSG *)buffer));
	     	Result=canSendMsg(0,S_MSG);
	     	return Result;
    	}
    	if((strcmp(CANDev->pCANHDR.name,"can1"))==0){
		v=canr(1,StatusReg);
	     	canNormalRun(1);
	     	S_MSG=(*((CANMSG *)buffer));
	     	Result=canSendMsg(1,S_MSG);
	     	return Result;
    	}
}

int CanIoctl(CAN_DEV *CANDev, int requestCode, int arg)
{
     CANCFG CAN_CONFIG;
     BYTE v;
     switch(requestCode)
     {
     	case CAN_INIT:
     		if((strcmp(CANDev->pCANHDR.name,"can0"))==0){
	     		CAN_CONFIG= (*((CANCFG *)arg));
	     		canConfig(0,CAN_CONFIG);
		}
    		if((strcmp(CANDev->pCANHDR.name,"can1"))==0){
	     		CAN_CONFIG= (*((CANCFG *)arg));
	     		canConfig(1,CAN_CONFIG);
     		}
		break;
	defaut:
 		break;
  	}
     return 1;
}
int CanClose(CAN_DEV *CANDev)
{
	BYTE v;
	if((strcmp(CANDev->pCANHDR.name,"can0"))==0){
	 	canExitHW(0);
 		Can0_Open=0;
	}
	if((strcmp(CANDev->pCANHDR.name,"can1"))==0){
  	   	canExitHW(1);
   	  	Can1_Open=0;
	}
     return 0;
}
/*对板子的运行进行系统配置
	seg:板子的寄存器段设置
	irq0:控制器0的irq号
	irq1:控制器1的irq号
返回值：1，成功；0，失败
*/
static int canInitHW()
{
	BYTE v;
	BYTE port;
	int ll;
	can_err_no[0]=0;
	can_err_no[1]=0;
	gSeg=(unsigned char *)(BASE_ADDR<<4); /* CAN控制器基地址设置*/
	canw(port,ModeControlReg,0x01);	
	v=canr(0,ModeControlReg);
	for(port=0;port<2;port++){
		/* test the can basic segment address */
		ll=0;
		v=canr(port,ModeControlReg);
		while((v & RM_RR_Bit ) == ClrByte){
			canw(port,ModeControlReg,v|RM_RR_Bit);
			v=canr(port,ModeControlReg);
			ll++;
			if(ll>100000){
				logMsg("Can't go into reset mode\n",0,0,0,0,0,0);
				can_err_no[port]=0x10;	/*段错误*/
				return 0;
			}
		}; /* end of while((v &   */
		/* 设置工作模式为CAN2.0B (PeliCAN) */
		div_reg_val[port]=CBP_Bit | DivBy2;
		canw(port,ClockDivideReg, div_reg_val[port]);

		/* 清中断使能*/
		/* 设置验收码*/
		canw(port,AcceptCodeReg , ClrByte);	
		/* 设置验收屏蔽码*/
		canw(port,AcceptMaskReg , DontCare);		
		/*2.0B,缺省的速率设置*/
		canw(port,BusTiming0Reg , SJW_500k_16 | Presc_500k_16);
		canw(port,BusTiming1Reg , TSEG1_500k_16 | TSEG2_500k_16);

		/* 输出控制*/
		canw(port,OutControlReg , Tx1Float | Tx0PshPull | NormalMode);
		
		/* create the semaphore */
		sem_can[port]=semCCreate(SEM_Q_FIFO,0);

		/* 创建消息队列*/

		canMsgQue[port] = msgQCreate(MAX_MSGS, MAX_MSG_LENGTH, MSG_Q_FIFO);
	}
	/* 连接中断服务程序 */
	sysIntLock();
	intConnect(INUM_TO_IVEC(INT_NUM_GET(CAN0_INT_NUMBER)),can0_isr,0);
	intConnect(INUM_TO_IVEC(INT_NUM_GET(CAN1_INT_NUMBER)),can1_isr,0);
	sysIntUnlock();
	sysIntEnablePIC(CAN0_INT_NUMBER);
	sysIntEnablePIC(CAN1_INT_NUMBER);		
	/*状态初始化*/
	rfirst[port]=0;
	sfirst[port]=0;
	rnext[port]=0;
	snext[port]=0;
	return 1;
}
/* canConfig, 设置控制器的屏蔽接收码和传输速率
	port:CAN控制器--0，控制器0；1，控制器1
	cfg:配置结构
返回值：1，成功；0，失败
*/
static int canConfig(BYTE port,CANCFG cfg)
{
	BYTE v;
	BYTE *buf;
	int msg_num=0;
	/*设置复位状态*/
	while(((v=canr(port,ModeControlReg)) & RM_RR_Bit ) == ClrByte){
		v|=RM_RR_Bit;