can.c

LINUX的简单应用

				}

			}
		}
		for(i=0;i<2;i++)
		{
			if(NULL==can[i])
				continue;
			outportb(can[i]->can_base,CanIntrReg);
			CanIntrStus[i]=inportb(can[i]->can_base+1);	//读中断状态寄存器
		}		
	}
	//printf("Int Req id %x\n",inport(0xff2c));
	outport(IntEoiReg,CANCanEoi);
}

void can_puts(unsigned char str[],int len,CAN_TYPE *pcan)
{
static unsigned int overtimer=0;
int i;
unsigned int putstimer;
int mask;
	if(NULL==pcan)
		return;
	if (len>BUFFSIZE)
		len=BUFFSIZE;
	pcan->out.read_index=0;
	pcan->out.write_index=0;
	for(i=0;i<len;i++)
	{
		pcan->out.buffer[i] = str[i];
	}
	pcan->out.write_index=8;
	mask=inport(IntMaskReg);
	mask|=~Int1Enable;	//关闭总线中断IRQ5(CAN板CAN口)
	outport(IntMaskReg,mask);
	outportb(pcan->can_base,CanStusReg);
	putstimer=timer;
	while((inportb(pcan->can_base+1) & TBS_Bit) != TBS_Bit)//;//发送缓冲区空？
	{
		if(GetPass(putstimer,timer)>=10)
		{
			if(GetPass(overtimer,timer)>=500)
			{
				if(pcan==can[0])
					i=1;
				else
					i=2;
				can_reset(i);
				overtimer=timer;
			}
			mask=inport(IntMaskReg);
			mask&=Int1Enable;	//开放总线中断IRQ5(CAN板CAN口)
			outport(IntMaskReg,mask);
			return;
		}
		outportb(pcan->can_base,CanStusReg);
	}
	outportb(pcan->can_base,16);
	outportb(pcan->can_base+1,0x08);	//帧信息，标准格式，数据帧，本帧数据长度8字节
	outportb(pcan->can_base,17);
	outportb(pcan->can_base+1,pcan->out.pri[0]);	//标识符1，发向0x68号站点（优先级为0x68的站点）
	outportb(pcan->can_base,18);
	outportb(pcan->can_base+1,(pcan->out.zhenhao[0]<<5)&0xe0);	//标识符2，高3位为帧号
	for(i=0;i<8;i++)
	{
		outportb(pcan->can_base,19+i);	//发送缓冲区填数
		outportb(pcan->can_base+1,pcan->out.buffer[i]);
	}
	//if(pcan->out.zhenhao[0]==0 && pcan->out.pri[0]==0x63 && (pcan->out.buffer[1]!=1 || pcan->out.buffer[2]!=12))
	//{
	//	//port_puts(pcan->out.buffer,16,com2);
	//	printf("error!%x,%x,%x,%x,%x,%x,%x,%x",pcan->out.buffer[0],pcan->out.buffer[1],pcan->out.buffer[2],
	//		pcan->out.buffer[3],pcan->out.buffer[4],pcan->out.buffer[5],pcan->out.buffer[6],pcan->out.buffer[7]);
	//}
	outportb(pcan->can_base,CanStusReg);//,0x02，看是否正在发送状态
	putstimer=timer;
	while((inportb(pcan->can_base+1) & TS_Bit) != 0)//;//&0x20 !=0x00
	{
		if(GetPass(putstimer,timer)>=10)
		{
			mask=inport(IntMaskReg);
			mask&=Int1Enable;	//开放总线中断IRQ5(CAN板CAN口)
			outport(IntMaskReg,mask);
			return;
		}
		outportb(pcan->can_base,CanStusReg);
	}
	outportb(pcan->can_base,CanCmdReg);//,0x01
	outportb(pcan->can_base+1,TR_Bit);//,0x01，请求发送
	outportb(pcan->can_base,CanIntrEnbReg);
	outportb(pcan->can_base+1,RIE_Bit);	//打开接收与发送中断
	pcan->out.read_index=0;
	pcan->out.write_index=0;
	//for(i=0;i<8;i++)
	//{
	//	outportb(pcan->can_base,19+i);	//du发送缓冲区
	//	if(((unsigned char)inportb(pcan->can_base+1))!=pcan->out.buffer[i])
	//		printf("error");
	//}
	mask=inport(IntMaskReg);
	mask&=Int1Enable;	//开放总线中断IRQ5(CAN板CAN口)
	outport(IntMaskReg,mask);
	DebugData(5,1,len,str);
}

int can_setframehead(unsigned char *pzhh,unsigned char *ppri,int len,CAN_TYPE *pcan)
{
	int i,j;
	if(NULL==pcan)
		return(0);
	j=pcan->out.write_index/8;
	i=10-j;
	//if(len>i)
	//	len=i;
	j=0;
	for(i=0;i<len;i++)
	{
		pcan->out.zhenhao[j]=pzhh[i];
		pcan->out.pri[j]=ppri[i];
		j++;
	}
	return(len);
}

int can_gets(unsigned char str[],int len,CAN_TYPE *pcan)
{
int i;
	if(NULL==pcan)
		return(0);
	i=can_getlen(pcan);
	if(len>i)
		len=i;
	str[0]=0;
	if(pcan==NULL || len==0)
		return(0);
	if(pcan->in.read_index== pcan->in.write_index)
		return(0);
	for(i=0;i<len;i++)
	{
		   if(pcan->in.read_index== pcan->in.write_index)
			   break;
	       str[i]=pcan->in.buffer[pcan->in.read_index++];
		   if(pcan->in.read_index>=BUFFSIZE)
			   pcan->in.read_index=0;
	}
	return(i);
}

void can_clear(CAN_TYPE *pcan)
{
	if(NULL==pcan)
		return;
	pcan->in.read_index=0;
	pcan->in.write_index=0;
}

int can_getlen(CAN_TYPE *pcan)
{
int len;
	if(NULL==pcan)
		return(0);
	if(pcan->in.write_index>=pcan->in.read_index)
		len=pcan->in.write_index-pcan->in.read_index;
	else
		len=BUFFSIZE-pcan->in.read_index+pcan->in.write_index;
	return(len);
}

int can_reset(int canid)//CAN口初始化
{
CAN_TYPE *pcan;
int mask;
unsigned int reset_timer=0;
unsigned char temp;

	if(canid<1 || canid>3)
		return(0);
	switch(canid)
	{
		case 0x01:
			pcan=can[0];
			pcan->can_base=Can1PortBase;
			break;
		case 0x02:
			pcan=can[1];
			pcan->can_base=Can2PortBase;
			break;
		//case 0x03:
		//	pcan=can[2];
		//	pcan->can_base=Can3PortBase;
		//	break;
		default:	return(0);
	}

	pcan->in.write_index = pcan->in.read_index = 0;
	pcan->out.write_index = pcan->out.read_index = 0;

	outportb(pcan->can_base,CanModeCtrlReg);//0x00,模式寄存器
	reset_timer=timer;
	while((inportb(pcan->can_base+1) & RM_Bit) == 0)//&0x01 ==0x00
	{
		if(GetPass(reset_timer,timer)>10)
		{
			break;//return(0);
		}
		outportb(pcan->can_base+1,inportb(pcan->can_base+1) | RM_Bit);//|0x01进入复位模式
	}
	outportb(pcan->can_base,CanClkDivReg);//,0x1f
	outportb(pcan->can_base+1,CANMode_Bit|ClkOff_Bit | CBP_Bit);//CLKOUT off,CBP=1,PeliCAN模式

	outportb(pcan->can_base,CanIntrEnbReg);//0x04
	outportb(pcan->can_base+1,0x00);		//中断禁能

	outportb(pcan->can_base,CanAcceptCode0);//0x10，
	outportb(pcan->can_base+1,0x64);
	outportb(pcan->can_base,CanAcceptCode1);//0x11
	outportb(pcan->can_base+1,0xa0);
	outportb(pcan->can_base,CanAcceptCode2);//0x12
	outportb(pcan->can_base+1,0x20);
	outportb(pcan->can_base,CanAcceptCode3);//0x13
	outportb(pcan->can_base+1,0xa0);

	outportb(pcan->can_base,CanAcceptMask0);//0x14
	outportb(pcan->can_base+1,0xff);
	outportb(pcan->can_base,CanAcceptMask1);//0x15
	outportb(pcan->can_base+1,0xff);
	outportb(pcan->can_base,CanAcceptMask2);//0x16
	outportb(pcan->can_base+1,0xff);
	outportb(pcan->can_base,CanAcceptMask3);//0x17
	outportb(pcan->can_base+1,0xff);

	outportb(pcan->can_base,CanBusTime0Reg);//,0x06
	outportb(pcan->can_base+1,SJW_KB_16 |Presc_KB_16);//,0xc0|0x00

	outportb(pcan->can_base,CanBusTime1Reg);//,0x07
	outportb(pcan->can_base+1,TSEG2_KB_16 | TSEG1_KB_16);//,0x30,0x0a，以上设定波特率等

	outportb(pcan->can_base,CanOutCtrlReg);//,0x08
	outportb(pcan->can_base+1,Tx1Float | Tx0PshPull | NormalMode);//,0x00|0x18|0x02

	outportb(pcan->can_base,CanModeCtrlReg);//,0x00
	reset_timer=timer;
	do{
		if(GetPass(reset_timer,timer)>10)
		{
			break;//return(0);
		}
		outportb(pcan->can_base+1,0);//AFM_Bit);//单滤波，关闭自测试、仅听模式，清除休眠，进入操作模式
	}while((inportb(pcan->can_base+1) & RM_Bit) != 0);//&0x01 !=0x00

	outportb(pcan->can_base,CanIntrEnbReg);
	outportb(pcan->can_base+1,RIE_Bit);	//打开接收中断

	disable();
	mask=inport(IntMaskReg);
	mask&=Int1Enable;	//开放总线中断IRQ5(CAN板CAN口)
	outport(IntMaskReg,mask);
	outport(Int1CtrlReg,Int1PriInit);		//设置中断优先级
	setvect(CANCanIntr,Can_int);
	enable();
	return(1);
}

CAN_TYPE* init_can(int canid)
{
CAN_TYPE *pcan;
	if ((pcan = malloc( sizeof( CAN_TYPE ))) == NULL)
		return( NULL );
	switch(canid)
	{
	case 1:
		can[0]=pcan;
		break;
	case 2:
		can[1]=pcan;
		break;
	//case 3:
	//	can[2]=pcan;
	//	break;
	default:
		return(NULL);
	}
	if(can_reset(canid))
		return(pcan);
	else
	{
		free(pcan);
		return(NULL);
	}
}