wncan.c

美国wind river 公司的CAN总线源代码

/* wnCAN.c - implementation of Windnet CAN Interface */

/* Copyright 2001 Wind River Systems, Inc. */

/*
modification history
--------------------
09nov01,dnb modified for integration into Tornado
12jul01,jac written

*/

/*

DESCRIPTION
This file contains the functions that implement the interface defined in the
wnCAN.h header file.

*/

/* includes */
#include <vxWorks.h>
#include <errnoLib.h>
#include <CAN/wnCAN.h>

#include <CAN/canBoard.h>
#include <CAN/canController.h>

/* global variables */
const static WNCAN_VersionInfo info = {1,2};

/************************************************************************
*
* WNCAN_GetVersion - return current major and minor revision
*
*
* RETURNS:pointer to WNCAN_VersionInfo
*
* ERRNO: N/A
*
*/

const WNCAN_VersionInfo *WNCAN_GetVersion(void)
{
    return &info;
}

/************************************************************************
*
* defaultISRCallBack - do nothing but return
*
* The default ISR callback serves as a placeholder and does nothing
*
* RETURNS: N/A
*
* ERRNO: N/A
*
*/
static void defaultISRCallback
(
    WNCAN_DEVICE *pDev,
    WNCAN_IntType stat,
    UCHAR chnNum)
{
    return;
}

/************************************************************************
*
* establishLinks - initialize function pointers in the Device structure
*
* This routine connects the function pointers in the CAN_Device
* data structure to the appropriate routines.
*
* RETURNS: OK or ERROR
*
* ERRNO: S_can_invalid_parameter
*
*/

STATUS CAN_DEVICE_establishLinks
(
    WNCAN_DEVICE *pDev,
    WNCAN_BoardType brdType,
    WNCAN_ControllerType ctrlType
)
{
    STATUS retCode = OK;

    /* check for null pointer */
    if(pDev == 0)
    {
        errnoSet(S_can_invalid_parameter);
        retCode = ERROR;
    }
    else
    {
        /* save board and controller types */
        pDev->pCtrl->ctrlType = ctrlType;
        pDev->pBrd->brdType = brdType;

        /* establish controller links */
        retCode = WNCAN_Controller_establishLinks(pDev, ctrlType);

        /* establish board links */
        retCode = WNCAN_Board_establishLinks(pDev, brdType);

        /* set default isr callback */
        pDev->pISRCallback = defaultISRCallback;
    }
    return retCode;
}

/************************************************************************
*
* CAN_InstallISRCallback - initialize ISR callback
*
* RETURNS: OK or ERROR
*
* ERRNO: S_can_invalid_parameter
*
*/

STATUS CAN_InstallISRCallback
(
    struct WNCAN_Device *pDev,
    void (*pFun)(struct WNCAN_Device *pDev2,WNCAN_IntType
                 intStatus, UCHAR channelNum)
)
{
   if(!pDev || !pFun)
   {
        errnoSet(S_can_invalid_parameter);
        return ERROR;
    }
    else
        pDev->pISRCallback = pFun;

    return OK;
}


/************************************************************************
*
* WNCAN_Open - return a handle to the requested WNCAN_DEVICE
*
* RETURNS: pointer to valid WNCAN_DEVICE, or 0 if an error occurred
*
* ERRNO: N/A
*
*/

struct WNCAN_Device *WNCAN_Open
(
    unsigned int brdType,
    unsigned int brdNdx,
    unsigned int ctrlNdx
)
{
    return  WNCAN_Board_Open(brdType, brdNdx, ctrlNdx);
}

/************************************************************************
*
* WNCAN_Close - close the handle to the requested WNCAN_DEVICE
*
* RETURNS: N/A
*
* ERRNO: N/A
*
*/

void WNCAN_Close
(
struct WNCAN_Device *pDev
)
{
	if(pDev != NULL)
		WNCAN_Board_Close(pDev);

    return;
}

/************************************************************************
*
* WNCAN_GetMode - get the channel mode
*
* This routine returns the mode of the channel.
*
* RETURNS: the channel mode
*
* ERRNO:   N/A
*
*/
WNCAN_ChannelMode WNCAN_GetMode(struct WNCAN_Device *pDev, UCHAR chn)
{

    WNCAN_ChannelMode cm = WNCAN_CHN_INVALID;

    if(chn < pDev->pCtrl->numChn)
        cm = pDev->pCtrl->chnMode[chn];

    return cm;
}


/************************************************************************
* WNCAN_SetMode - set the mode of the channel.
*
* This function sets the mode of the channel to one of five values:
* WNCAN_CHN_TRANSMIT, WNCAN_CHN_RECEIVE, WNCAN_CHN_INACTIVE, 
* and in addition for advanced controllers,
* WNCAN_CHN_RTR_REQUESTER, or WNCAN_CHN_RTR_RESPONDER.
* All available channels can be configured to be WNCAN_CHN_INACTIVE.
* The channels available for transmitting or receiving messages are
* determined by the device hardware, and therefore ,may or may not be
* configurable with this function call. If an attempt is made to set the mode 
* of a channel to WNCAN_CHN_RTR_RESPONDER or WNCAN_CHN_RTR_REQUESTER for a
* simple CAN controller such as SJA1000, WNCAN_CHN_INVALID is returned and an
* and errorno is set to reflect the error. 
* The preferred approach is to allow the device driver to manage the channels 
* internally using the CAN_GetTxChannel(), CAN_GetRxChannel(), 
* CAN_GetRTRRequesterChannel(), CAN_GetRTRResponderChannel() and
* CAN_FreeChannel() function calls.
*
* WNCAN_SetMode, does not affect channel setting in hardware.
*
* RETURNS: ERROR if the requested channel number is out of range,
*           OK otherwise 
*
* ERRNO: S_can_illegal_channel_no
*
*/
STATUS WNCAN_SetMode(struct WNCAN_Device *pDev, UCHAR channelNum,
					 WNCAN_ChannelMode mode)
{
    STATUS retCode = OK;
	
    if(channelNum >= pDev->pCtrl->numChn)
    {
        errnoSet(S_can_illegal_channel_no);
        retCode = ERROR;
    }
    else
    {
        switch(mode)
        {
		case WNCAN_CHN_TRANSMIT:
			if((pDev->pCtrl->chnType[channelNum] == WNCAN_CHN_TRANSMIT) ||
				(pDev->pCtrl->chnType[channelNum] == WNCAN_CHN_TRANSMIT_RECEIVE))
			{
				pDev->pCtrl->chnMode[channelNum] = WNCAN_CHN_TRANSMIT;
			}
			else
			{
				errnoSet(S_can_illegal_config);
				retCode = ERROR;
			}
			
			break;
			
		case WNCAN_CHN_RECEIVE:
			if((pDev->pCtrl->chnType[channelNum] == WNCAN_CHN_RECEIVE) ||
				(pDev->pCtrl->chnType[channelNum] == WNCAN_CHN_TRANSMIT_RECEIVE))
			{
				
				pDev->pCtrl->chnMode[channelNum] = WNCAN_CHN_RECEIVE;
			}
			else
			{
				errnoSet(S_can_illegal_config);
				retCode = ERROR;
			}
			
			break;
			
		case WNCAN_CHN_RTR_REQUESTER:
		/* The hardware type of the channel will be transmit and receive only
			in advanced controllers such as TouCAN and I82527 */
			if(pDev->pCtrl->chnType[channelNum] == WNCAN_CHN_TRANSMIT_RECEIVE)
			{
				pDev->pCtrl->chnMode[channelNum] = WNCAN_CHN_RTR_REQUESTER;
			}
			else
			{
				errnoSet(S_can_rtr_mode_not_supported);
				retCode = ERROR;
			}
			
			break;