canio.h

开放源码实时操作系统源码.

#ifndef CYGONCE_CANIO_H
#define CYGONCE_CANIO_H
// ====================================================================
//
//      canio.h
//
//      Device I/O 
//
// ====================================================================
//####ECOSGPLCOPYRIGHTBEGIN####
// -------------------------------------------
// This file is part of eCos, the Embedded Configurable Operating System.
// Copyright (C) 1998, 1999, 2000, 2001, 2002 Red Hat, Inc.
//
// eCos is free software; you can redistribute it and/or modify it under
// the terms of the GNU General Public License as published by the Free
// Software Foundation; either version 2 or (at your option) any later version.
//
// eCos is distributed in the hope that it will be useful, but WITHOUT ANY
// WARRANTY; without even the implied warranty of MERCHANTABILITY or
// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
// for more details.
//
// You should have received a copy of the GNU General Public License along
// with eCos; if not, write to the Free Software Foundation, Inc.,
// 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
//
// As a special exception, if other files instantiate templates or use macros
// or inline functions from this file, or you compile this file and link it
// with other works to produce a work based on this file, this file does not
// by itself cause the resulting work to be covered by the GNU General Public
// License. However the source code for this file must still be made available
// in accordance with section (3) of the GNU General Public License.
//
// This exception does not invalidate any other reasons why a work based on
// this file might be covered by the GNU General Public License.
//
// Alternative licenses for eCos may be arranged by contacting Red Hat, Inc.
// at http://sources.redhat.com/ecos/ecos-license/
// -------------------------------------------
//####ECOSGPLCOPYRIGHTEND####
// ====================================================================
//#####DESCRIPTIONBEGIN####
//
// Author(s):    Uwe Kindler
// Contributors: gthomas
// Date:         2005-05-12
// Purpose:      Special support for CAN I/O devices
// Description:
//
//####DESCRIPTIONEND####
//
// ====================================================================


//===========================================================================
//                               INCLUDES
//===========================================================================
#include <pkgconf/system.h>
#include <pkgconf/io_can.h>
#include <pkgconf/hal.h>
#include <cyg/infra/cyg_type.h>
#include <cyg/io/config_keys.h>


#ifdef __cplusplus
extern "C" {
#endif


//===========================================================================
//                                DATA TYPES
//===========================================================================

//
// Supported baud rates
//
typedef enum {
    CYGNUM_CAN_KBAUD_10 = 1,
    CYGNUM_CAN_KBAUD_20,
    CYGNUM_CAN_KBAUD_50,
    CYGNUM_CAN_KBAUD_100,
    CYGNUM_CAN_KBAUD_125,
    CYGNUM_CAN_KBAUD_250,
    CYGNUM_CAN_KBAUD_500,
    CYGNUM_CAN_KBAUD_800,
    CYGNUM_CAN_KBAUD_1000,
    CYGNUM_CAN_KBAUD_AUTO, // automatic detection of baudrate (if supported by hardware)
} cyg_can_baud_rate_t;
#define CYGNUM_CAN_KBAUD_MIN CYGNUM_CAN_KBAUD_10 
#define CYGNUM_CAN_KBAUD_MAX CYGNUM_CAN_KBAUD_1000


// Note: two levels of macro are required to get proper expansion.
#define _CYG_CAN_BAUD_RATE(n) CYGNUM_CAN_KBAUD_##n
#define CYG_CAN_BAUD_RATE(n) _CYG_CAN_BAUD_RATE(n)

//
// Event types for received events. Not all event types are supported by each CAN
// hardware but normally these events should cover the most common CAN events
// that may occur. A combination of the event type values is allowed.
//
typedef enum 
{
    CYGNUM_CAN_EVENT_RX                  = 0x0001, // message received
    CYGNUM_CAN_EVENT_TX                  = 0x0002, // mesage transmitted
    CYGNUM_CAN_EVENT_WARNING_RX          = 0x0004, // tx error counter (TEC) reached warning level (>96)
    CYGNUM_CAN_EVENT_WARNING_TX          = 0x0008, // rx error counter (REC) reached warning level (>96)
    CYGNUM_CAN_EVENT_ERR_PASSIVE         = 0x0010, // CAN "error passive" occured
    CYGNUM_CAN_EVENT_BUS_OFF             = 0x0020, // CAN "bus off" error occured
    CYGNUM_CAN_EVENT_OVERRUN_RX          = 0x0040, // overrun in RX queue or hardware occured
    CYGNUM_CAN_EVENT_OVERRUN_TX          = 0x0080, // overrun in TX queue occured
    CYGNUM_CAN_EVENT_CAN_ERR             = 0x0100, // a CAN bit or frame error occured
    CYGNUM_CAN_EVENT_LEAVING_STANDBY     = 0x0200, // CAN hardware leaves standby / power don mode or is waked up
    CYGNUM_CAN_EVENT_ENTERING_STANDBY    = 0x0400, // CAN hardware enters standby / power down mode
    CYGNUM_CAN_EVENT_ARBITRATION_LOST    = 0x0800, // arbitration lost
    CYGNUM_CAN_EVENT_FILTER_ERR          = 0x1000, // CAN message filter / acceptance filter error
    CYGNUM_CAN_EVENT_PHY_FAULT           = 0x2000, // General failure of physical layer detected (if supported by hardware)
    CYGNUM_CAN_EVENT_PHY_H               = 0x4000, // Fault on CAN-H detected (Low Speed CAN)
    CYGNUM_CAN_EVENT_PHY_L               = 0x8000, // Fault on CAN-L detected (Low Speed CAN)
} cyg_can_event_flags;

//
// State of CAN controller
//
typedef enum e_cyg_can_state
{
    CYGNUM_CAN_STATE_ACTIVE,       // CAN controller is active, no errors
    CYGNUM_CAN_STATE_STOPPED,      // CAN controller is in stopped mode
    CYGNUM_CAN_STATE_STANDBY,      // CAN controller is in Sleep mode
    CYGNUM_CAN_STATE_BUS_WARN,     // CAN controller is active, warning level is reached
    CYGNUM_CAN_STATE_ERR_PASSIVE,  // CAN controller went into error passive mode
    CYGNUM_CAN_STATE_BUS_OFF,      // CAN controller went into bus off mode
    CYGNUM_CAN_STATE_PHY_FAULT,    // General failure of physical layer detected (if supported by hardware)
    CYGNUM_CAN_STATE_PHY_H,        // Fault on CAN-H detected (Low Speed CAN)
    CYGNUM_CAN_STATE_PHY_L,        // Fault on CAN-L detected (Low Speed CAN)
    CYGNUM_CAN_STATE_CONFIG,       // CAN controller is in configuration state
} cyg_can_state;

//
// Identifiers for operating mode of the CAN controller.
//
typedef enum e_cyg_can_mode
{
    CYGNUM_CAN_MODE_STOP,   // set controller into stop mode
    CYGNUM_CAN_MODE_START,  // set controller into operational mode
    CYGNUM_CAN_MODE_STANDBY,// set controller into standby / sleep mode
    CYGNUM_CAN_MODE_CONFIG  // set controller and driver into a state where it is safe to add/delete message buffers
} cyg_can_mode;

//
// Type of CAN identifier. 
//
typedef enum e_cyg_can_id_type
{
    CYGNUM_CAN_ID_STD = 0x00, // standard ID 11 Bit
    CYGNUM_CAN_ID_EXT = 0x01  // extended ID 29 Bit
} cyg_can_id_type;

//
// Type of CAN frame
//
typedef enum e_cyg_can_frame_type
{
    CYGNUM_CAN_FRAME_DATA = 0x00, // CAN data frame
    CYGNUM_CAN_FRAME_RTR  = 0x01  // CAN remote transmission request
} cyg_can_frame_type;

//
// Message buffer configuration identifier - we do not use an enum here so that
// a specific device driver can add its own configuration identifier
//
typedef cyg_uint8 cyg_can_msgbuf_cfg_id;
#define CYGNUM_CAN_MSGBUF_RESET_ALL         0 // no message will be received, all remote buffers deleted
#define CYGNUM_CAN_MSGBUF_RX_FILTER_ALL     1 // cfg driver for reception of all can messges
#define CYGNUM_CAN_MSGBUF_RX_FILTER_ADD     2 // add single message filter
#define CYGNUM_CAN_MSGBUF_REMOTE_BUF_ADD    3 // add new remote response buffer
#define CYGNUM_CAN_MSGBUF_REMOTE_BUF_WRITE  4 // store data into existing remote buffer (remote buf handle required)


//
// CAN message data - this union is a container for the 8 data bytes of a can
// message and the union is alway part of a can message - no matter if this type
// is defined by generic CAN layer or by CAN hardware device driver
//
typedef union u_cyg_can_msg_data
{
    cyg_uint8  bytes[8];    // byte access (array of 8 bytes)
    cyg_uint16 words[4];    // word access (array of 4 words)
    cyg_uint32 dwords[2];   // double word access (array of 2 dwords)
} cyg_can_msg_data;

//
// CAN message type for transport or transmit of CAN messages 
// The message data is a union. This enables byte, word and dword access and
// also ensures a 4 byte alignment of the message data
//
typedef struct st_cyg_can_message
{
    cyg_uint32          id;     // 11 Bit or 29 Bit CAN identifier - cyg_can_id_type 
    cyg_can_msg_data    data;   // CAN data (8 data bytes)
    cyg_can_id_type     ext;    // CYGNUM_CAN_ID_STD = 11 Bit CAN id, CYGNUM_CAN_ID_EXT = 29 Bit CAN id
    cyg_can_frame_type  rtr;    // CYGNUM_CAN_FRAME_DATA = data frame, CYGNUM_CAN_FRAME_RTR = remote transmission request
    cyg_uint8           dlc;    // data length code (number of bytes (0 - 8) containing valid data
} cyg_can_message;

//
// CAN event type for reception of CAN events from driver. CAN events may be
// a received CAN message or any other status information like tx msg or
// arbitration lost
//
typedef struct cyg_can_event_st
{
    cyg_uint32      timestamp;
    cyg_can_message msg;
    cyg_uint16      flags;     
} cyg_can_event;