pcan_main.h

linux下的CAN BUS驱动代码。适合在arm平台使用。

#ifndef __PCAN_MAIN_H__
#define __PCAN_MAIN_H__

//****************************************************************************
// Copyright (C) 2001-2007  PEAK System-Technik GmbH
//
// [e-mail]
// www.peak-system.com
//
// This program 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 of the License, or
// (at your option) any later version.
//
// This program 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 this program; if not, write to the Free Software
// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
//
// Maintainer(s): Klaus Hitschler ([e-mail])
//
// Major contributions by:
//                Edouard Tisserant ([e-mail]) XENOMAI
//                Laurent Bessard   ([e-mail])   XENOMAI
//                Oliver Hartkopp   ([e-mail]) socketCAN
//                     
// Contributions: Marcel Offermans ([e-mail])
//                Philipp Baer ([e-mail])
//                Marc Sowen ([e-mail])
//****************************************************************************

//****************************************************************************
//
// pcan_main.h - global defines to include in all files this module is made of
//
// $Id: pcan_main.h 535 2008-02-11 20:36:03Z ohartkopp $
//
//****************************************************************************

//----------------------------------------------------------------------------
// INCLUDES
#include <src/pcan_common.h>

#include <linux/types.h>
#include <linux/list.h>
#include <linux/wait.h>
#include <linux/interrupt.h>
#include <linux/time.h>

#ifdef LINUX_26
#include <linux/device.h>
#endif

#ifdef PCI_SUPPORT
#include <linux/pci.h>
#endif

#include <linux/spinlock.h>

#include <asm/atomic.h>

#ifdef PARPORT_SUBSYSTEM
#include <linux/parport.h>
#endif

#ifdef PCCARD_SUPPORT
#include <pcmcia/cs_types.h>
#include <pcmcia/cs.h>
#include <pcmcia/cistpl.h>
#include <pcmcia/ds.h>
#endif

#ifdef USB_SUPPORT
#include <linux/usb.h>

#if LINUX_VERSION_CODE > KERNEL_VERSION(2,4,19)
typedef struct urb urb_t, *purb_t;
#endif

#endif

#ifndef NO_RT
#include <rtdm/rtdm_driver.h>
struct pcanctx_rt;
#endif

/* PF_CAN is part of the Linux Mainline Kernel since v2.6.25 */
/* For older Kernels the PCAN driver includes the needed */
/* defines from private files src/can.h and src/error.h  */

#if LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,25)
#include <linux/can.h>
#include <linux/can/error.h>
#include <linux/if_arp.h>
#include <linux/if_ether.h>
#else /* before 2.6.25 pcan netdev contains private includes */
#include <src/can.h>
#include <src/error.h>
#define ARPHRD_CAN	280	/* to be moved to include/linux/if_arp.h */
#define ETH_P_CAN	0x000C	/* to be moved to include/linux/if_ether.h */
#endif

/* fix overlap in namespace between socketcan can/error.h and pcan.h */
#define CAN_ERR_BUSOFF_NETDEV CAN_ERR_BUSOFF
#undef CAN_ERR_BUSOFF

#include <pcan.h>

//----------------------------------------------------------------------------
// DEFINES
#define CHANNEL_SINGLE 0                                   // this is a single channel device
#define CHANNEL_MASTER 1                                   // multi channel device, this device is master
#define CHANNEL_SLAVE  2                                   // multi channel device, this is slave

#define READBUFFER_SIZE      80                            // buffers used in read and write call
#define WRITEBUFFER_SIZE     80
#define PCAN_MAJOR            0                            // use dynamic major allocation, else use 91
#define READ_MESSAGE_COUNT  500                            // max read message count
#define WRITE_MESSAGE_COUNT  50                            // max write message count

// parameter wBTR0BTR1
// bitrate codes of BTR0/BTR1 registers
#define CAN_BAUD_1M     0x0014                             //   1 MBit/s
#define CAN_BAUD_500K   0x001C                             // 500 kBit/s
#define CAN_BAUD_250K   0x011C                             // 250 kBit/s
#define CAN_BAUD_125K   0x031C                             // 125 kBit/s
#define CAN_BAUD_100K   0x432F                             // 100 kBit/s
#define CAN_BAUD_50K    0x472F                             //  50 kBit/s
#define CAN_BAUD_20K    0x532F                             //  20 kBit/s
#define CAN_BAUD_10K    0x672F                             //  10 kBit/s
#define CAN_BAUD_5K     0x7F7F                             //   5 kBit/s

// maximum allocated number of endpoints (w.o. control endpoints) of pcan-usb
#define PCAN_USB_MAX_ENDPOINTS 4

// Activity states
#define ACTIVITY_NONE        0          // LED off           - set when the channel is created or deleted
#define ACTIVITY_INITIALIZED 1          // LED on            - set when the channel is initialized
#define ACTIVITY_IDLE        2          // LED slow blinking - set when the channel is ready to receive or transmit
#define ACTIVITY_XMIT        3          // LED fast blinking - set when the channel has received or transmitted

#define CAN_ERROR_ACTIVE     0          // CAN-Bus error states for busStatus - initial and normal state
#define CAN_ERROR_PASSIVE    1          // receive only state
#define CAN_BUS_OFF          2          // switched off from Bus

typedef struct chn_props                                   // this structure holds various channel properties 
{
  u8 ucExternalClock : 1;                                  // this device is supplied with a external clock
  u8 ucMasterDevice  : 2;                                  // this channel is a clock master, slave, single 
} CHN_PROPS;

// a helper for fast conversion between 'SJA1000' data ordering and host data order
typedef union
{
  u8  uc[4];
  u32 ul;
} ULCONV;

typedef union
{
  u8  uc[2];
  u16 uw;
} UWCONV;


typedef struct
{
  u16        wStepSize;                                    // size of bytes to step to next entry
  u16        wCopySize;                                    // size of bytes to copy
  void       *bufferBegin;                                 // points to first element
  void       *bufferEnd;                                   // points to the last element
  u32        nCount;                                       // max count of elements in fifo
  u32        nStored;                                      // count of currently received and stored messages
  u32        dwTotal;                                      // received messages
  void       *r;                                           // points to the next Msg to read into the read buffer
  void       *w;                                           // points to the next Msg to write into read buffer
  spinlock_t lock;                                         // mutual exclusion lock
} FIFO_MANAGER;

typedef struct
{
  u32  dwPort;                                             // the port of the transport layer
  u32  dwConfigPort;                                       // the confiuration port, PCI only
  void *pvVirtPort;                                        // virtual address of port
  void *pvVirtConfigPort;                                  // only PCI, the virtual address of the config port
  u16  wIrq;                                               // the associated irq level
  int  nChannel;                                           // associated channel of the card - channel #0 is special
} PCI_PORT;

typedef struct
{
  u32  dwPort;                                             // the port of the transport layer
  u16  wIrq;                                               // the associated irq 
  #ifdef PARPORT_SUBSYSTEM
  struct pardevice *pardev;                                // points to the associated parallel port (PARPORT subsytem)
  #endif
  u16  wEcr;                                               // ECR register in case of EPP
  u8   ucOldDataContent;                                   // the overwritten contents of the port registers
  u8   ucOldControlContent;
  u8   ucOldECRContent;
  spinlock_t lock;                                         // a helper to manage interfering access to chip registers
} DONGLE_PORT;

#ifdef NO_RT
typedef struct
{
  struct list_head item;                                   // link anchor for a item with the same irq level
  struct pcandev   *dev;                                   // points to the device to be handled with the same irq level
} SAME_IRQ_ITEM;            

typedef struct 
{
  struct list_head same_irq_items;                         // base of list of SAME_IRQ_ITEM's
  u16  same_irq_count;                                     // count of devices with the same irq level to handle
  u16  same_irq_active;                                     // count of armed (active) irqs
} SAME_IRQ_LIST;
#endif

typedef struct
{
  u32  dwPort;                                             // the port of the transport layer
  u16  wIrq;                                               // the associated irq level
#ifdef NO_RT
  SAME_IRQ_ITEM same;                                      // each ISA_PORT should belong to one SAME_IRQ_LIST
  SAME_IRQ_LIST anchor;                                    // the anchor for one irq level (not used with every ISA_PORT)
  SAME_IRQ_LIST *my_anchor;                                // points to the list of items for the same irq (SAME_IRQ_LIST)
#endif  
} ISA_PORT;

#ifdef PCCARD_SUPPORT