sja1000p.cpp

windows ce 下 can总线驱动源码

/* sja1000.c
 * Linux CAN-bus device driver.
 * Written by Arnaud Westenberg email:[e-mail]
 * This software is released under the GPL-License.
 * Version 0.6 18 Sept 2000
 * Changed for PeliCan mode SJA1000 by Tomasz Motylewski (BFAD GmbH)
 * [e-mail]
 */

#include <windows.h>
#include <windef.h>
#include <types.h>
#include <excpt.h>
#include <tchar.h>
#include <cardserv.h>
#include <cardapi.h>
#include <tuple.h>
#include <devload.h>
#include <diskio.h>
#include <nkintr.h>
#include <oalintr.h>
#include <windev.h>

#include <memory.h>
#include <linklist.h>
#include <pegdser.h>
#include <pm.h>

#include "sja1000p.h"

 

int baudrate=0;
int CLOCK = 24000000; // Chip CLOCK in Hz


static volatile CAN_ADDR*			m_pCanAddr = NULL;

static void Delay(DWORD dwMSecs) 
{	
#define MSEC_DELAY_SCALER	0x2
	volatile DWORD dwScaledSecs = (dwMSecs * MSEC_DELAY_SCALER);

	while (dwScaledSecs)
	{
		dwScaledSecs--;
	}
}

int CanP_VirtualAlloc()
{
	RETAILMSG(1, (TEXT("CAN:: CanVirtualAlloc++ \r\n") ));

	m_pCanAddr = ( volatile CAN_ADDR *)VirtualAlloc(0, sizeof(CAN_ADDR), MEM_RESERVE, PAGE_NOACCESS);
	if(m_pCanAddr == NULL) 
	{
		RETAILMSG (1,(TEXT("CAN:: CanVirtualAlloc m_pCanAddr : VirtualAlloc failed!\r\n")));
		goto error_return;
	}
	else 
	{
		if(!VirtualCopy((PVOID)m_pCanAddr, (PVOID)(SJA1000_BASE), sizeof(CAN_ADDR), PAGE_READWRITE|PAGE_NOCACHE )) 
		{
			RETAILMSG(1,(TEXT("CAN:: CanVirtualAlloc m_pCanAddr : VirtualCopy failed!\r\n")));
			goto error_return;
		}
	}
	RETAILMSG(1, (TEXT("CAN::  m_pCanAddr  %x\r\n"), m_pCanAddr));
	
	RETAILMSG(1,(TEXT("CAN:: CanVirtualAlloc-- \r\n")));
	
	return TRUE;

error_return:
	if ( m_pCanAddr )
		VirtualFree((PVOID)m_pCanAddr, 0, MEM_RELEASE);
	
	m_pCanAddr		= NULL;

	return 0;	
}



 unsigned can_read_reg( unsigned short reg )
{
    m_pCanAddr->byteAddr  = reg;                   //访问地址指向控制寄存器
    return  m_pCanAddr->byteData;                      //保存原始值   
};

 void can_write_reg(unsigned char data, unsigned short reg )
{
	m_pCanAddr->byteAddr  = reg;                   //访问地址指向控制寄存器
    m_pCanAddr->byteData  = data;                      //保存原始值
};


// Enter reset mode.
int sja1000p_enable_configuration( )
{
	int i=0;
	unsigned int  flags;
	flags=can_read_reg( SJAMOD);

	while ((!(flags & MOD_RM)) && (i<=10)) {
		can_write_reg( MOD_RM, SJAMOD);
// TODO: chinfigurable MOD_AFM (32/16 bit acceptance filter)
// config MOD_LOM (listen only)
		Delay(10);
		i++;
		flags=can_read_reg( SJAMOD);
	}
	if (i>=10) {
		RETAILMSG(1,(TEXT("Reset error\n")));		
		return -1;
	}
	return 0;
}

// Quit reset mode.
int sja1000p_disable_configuration( )
{
	int i=0;
	unsigned int  flags;
	flags=can_read_reg( SJAMOD);

	while ( (flags & MOD_RM) && (i<=10) ) {
		can_write_reg(  0, SJAMOD);
// TODO: chinfigurable MOD_AFM (32/16 bit acceptance filter)
// config MOD_LOM (listen only)
		Delay(10);
		i++;
		flags=can_read_reg(  SJAMOD);
	}
	if (i>=10) {
		RETAILMSG(1,(TEXT("Error leaving reset status\n")));
		return -1;
	}
	return 0;
}

/************************************
  ACR==0AAH,AMR==00H
  BTR0==C2H,BTR1==3aH
  OC : 0xd9 为测试模式。 0xda 为正常工作模式
  CDR=48H  
************************************************/
int sja1000p_chip_config( unsigned int uCDR, unsigned int  uOCR,
			  unsigned int uBTR0, unsigned int  uBTR1, 
			  unsigned int uACR,  unsigned int  uAMR )
{
	if (sja1000p_enable_configuration())
		return -1;
	
	can_write_reg( uCDR, SJACDR); 
	can_write_reg( uOCR,SJAOCR); 

	sja1000p_set_btregs( uBTR0, uBTR1 );

	if (sja1000p_extended_mask( uACR, uAMR))
		return -1;
	
	/* Enable hardware interrupts */
	can_write_reg(  ENABLE_INTERRUPTS, SJAIER); 

	sja1000p_disable_configuration();
	
	return 0;
}

int sja1000p_set_cdr_ocrregs( unsigned int uCDR, unsigned int  uOCR)
{
     if (sja1000p_enable_configuration())
		return -1;
	can_write_reg( uCDR, SJACDR); 
	can_write_reg( uOCR,SJAOCR);  
     sja1000p_disable_configuration();  	
}	

// Config  ACR, AMR registor.
int sja1000p_extended_mask(  unsigned long code, unsigned  long mask)
{
	int i;
	if (sja1000p_enable_configuration())
		return -1;

// LSB to +3, MSB to +0	
	for(i=SJA_PeliCAN_AC_LEN; --i>=0;) {
		can_write_reg( code&0xff,SJAACR0+i);
		can_write_reg( mask&0xff,SJAAMR0+i);
		code >>= 8;
		mask >>= 8;
	}
	sja1000p_disable_configuration();

	return 0;
}

/* Set communication parameters.
 * param rate baud rate in Hz
 * param CLOCK frequency of sja1000 CLOCK in Hz (ISA osc is 14318000)
 * param sjw synchronization jump width (0-3) prescaled CLOCK cycles
 * param sampl_pt sample point in % (0-100) sets (TSEG1+1)/(TSEG1+TSEG2+2) ratio
 * param flags fields BTR1_SAM, OCMODE, OCPOL, OCTP, OCTN, CLK_OFF, CBP
 */
int sja1000p_baud_rate( int rate, int sjw, int sampl_pt, int flags)
{
	int best_error = 1000000000, error;
	int best_tseg=0, best_brp=0, best_rate=0, brp=0;
	int tseg=0, tseg1=0, tseg2=0;
	
	if (sja1000p_enable_configuration())
		return -1;

	CLOCK /=2;

	/* tseg even = round down, odd = round up */
	for (tseg=(0+0+2)*2; tseg<=(MAX_TSEG2+MAX_TSEG1+2)*2+1; tseg++) {
		brp = CLOCK/((1+tseg/2)*rate)+tseg%2;
		if (brp == 0 || brp > 64)
			continue;
		error = rate - CLOCK/(brp*(1+tseg/2));
		if (error < 0)
			error = -error;
		if (error <= best_error) {
			best_error = error;
			best_tseg = tseg/2;
			best_brp = brp-1;
			best_rate = CLOCK/(brp*(1+tseg/2));
		}
	}
	if (best_error && (rate/best_error < 10)) {
		RETAILMSG(1,(TEXT("baud rate %d is not possible with %XHz CLOCK\n")),
								rate, 2*CLOCK);
		RETAILMSG(1,(TEXT("%d bps. brp=%d, best_tseg=%d, tseg1=%d, tseg2=%d\n")),
				best_rate, best_brp, best_tseg, tseg1, tseg2);
		return -1;
	}
	tseg2 = best_tseg-(sampl_pt*(best_tseg+1))/100;
	if (tseg2 < 0)
		tseg2 = 0;
	if (tseg2 > MAX_TSEG2)
		tseg2 = MAX_TSEG2;
	tseg1 = best_tseg-tseg2-2;
	if (tseg1>MAX_TSEG1) {
		tseg1 = MAX_TSEG1;
		tseg2 = best_tseg-tseg1-2;
	}

	RETAILMSG(1,(TEXT("Setting %d bps.\n")), best_rate);
	RETAILMSG(1,(TEXT("brp=%d, best_tseg=%d, tseg1=%d, tseg2=%d, sampl_pt=%d\n")),
					best_brp, best_tseg, tseg1, tseg2,
					(100*(best_tseg-tseg2)/(best_tseg+1)));


	can_write_reg(  sjw<<6 | best_brp, SJABTR0);
	can_write_reg(  ((flags & BTR1_SAM) != 0)<<7 | (tseg2<<4) 
					| tseg1, SJABTR1);

	sja1000p_disable_configuration();

	return 0;
}

int sja1000p_set_btregs( unsigned int btr0,  unsigned int btr1)
{
	if (sja1000p_enable_configuration())
		return -1;

	can_write_reg( btr0, SJABTR0);
	can_write_reg( btr1, SJABTR1);

	sja1000p_disable_configuration();

	return 0;
}

int sja1000p_start_chip( )
{
	unsigned int  flags;

	flags = can_read_reg(  SJAMOD) & (MOD_LOM|MOD_STM|MOD_AFM|MOD_SM);
	can_write_reg( flags, SJAMOD);

	return 0;
}

int sja1000p_stop_chip( )
{
	unsigned int  flags;

	flags = can_read_reg(  SJAMOD) & (MOD_LOM|MOD_STM|MOD_AFM|MOD_SM);
	can_write_reg( flags|MOD_RM, SJAMOD);

	return 0;
}



 int    peli_DATA_RECEIVE( RXFIFO& rxfifo)// 读写函数都有问题，应该判断是standard帧还是extended帧才能知道数据真正的长度
 {
 	   int i = 0;
 	   BYTE byReg1 = 0;
 	   
   unsigned  char  TempCount; 
                                               //访问地址指向状态寄存器
   if((can_read_reg(SJASR)&0x01)==0)               //判断报文是否有效  这个应该是判断接受缓冲区是否为空 by黎科峰
   {
   	RETAILMSG(1,(TEXT("SJA1K:: BCAN_DATA_RECEIVE-- no data error \r\n")));
        return 1;
   }
   
   
	for( i = 0; i <= 12; i++)
	{
	     rxfifo.reg[i] = can_read_reg( 16+ i );	
	     RETAILMSG(1, (TEXT(" TX buffer reg%x = %x\r\n"), i+16, rxfifo.reg[i] ));	     
	}
   
   
 //    can_write_reg( CMR_RRB,SJACMR );	
     
   RETAILMSG(1,(TEXT("SJA1K:: BCAN_DATA_RECEIVE-- ok \r\n")));
   return  0;
 }
 

 int  peli_DATA_WRITE(unsigned int *SendDataBuf)
 {
   unsigned  char  TempCount;
   int i = 0;
   	
   /* and leave Reset Mode */ 		
   sja1000p_disable_configuration();
 
   if(( can_read_reg(SJASR)&0x08) == 0)         //判断上次发送是否完成
   {
   	RETAILMSG(1,(TEXT("SJA1K:: BCAN_DATA_WRITE-- not complete error \r\n")));
    return	1;
   }  

   if((can_read_reg(SJASR)&0x04)==0)          //判断发送缓冲区是否锁定
   {
   	RETAILMSG(1,(TEXT("SJA1K:: BCAN_DATA_WRITE--lock error \r\n")));
     return	1;
   }  
   
    if((SendDataBuf[0]&0x40)==0)         //判断RTR，从而得出是数据帧还是远程帧
   { 
     TempCount =(SendDataBuf[0]&0x0f) + 5; //输入数据帧
   }

   else
   {
     TempCount =5;                     //远程帧
   }
    
 //  memcpy(m_pCanAddr->byteData,SendDataBuf,TempCount);
 
   for ( i = 0; i < TempCount; i++)
   {
   	can_write_reg(  SendDataBuf[i],SJAFRM + i); 
   }
   
    RETAILMSG(1, (TEXT("CAN::  SendDatacount  %x\r\n"), TempCount));
    
    can_write_reg( CMR_TR,SJACMR );	
      	
  RETAILMSG(1,(TEXT("SJA1K:: BCAN_DATA_WRITE-- ok \r\n")));
   return 0;
}

void TestReadAllRegs(  )
{
	int i = 0;
	unsigned int ireg = 0;
	RETAILMSG(1,(TEXT(" TestReadAllRegs++ \r\n")));	
	
	for( i = 0; i <= 0x1f; i++)
	{
	    ireg = can_read_reg ( i );
	    RETAILMSG(1, (TEXT(" Reg%x = %x\r\n"),i, ireg ));
	}
	RETAILMSG(1,(TEXT(" TestReadAllRegs-- \r\n")));
}

void initcan(  )
{	
	BYTE byCDR,byOCR,byBTR0,byBTR1,byMOD,byCMR;
	unsigned regtmp = 0, RegInt = 0, Reg1 = 0, Reg2 = 0;		
	
	RETAILMSG(1,(TEXT(" SlefTest ++ \r\n")));
 
	RETAILMSG(1, (TEXT(" Hardware reset status \r\n")));
	TestReadAllRegs();
  	
//	byCDR = 0xC8,byOCR= 0xda,byBTR0 = 0xc2, byBTR1 = 0x3a,byMOD = MOD_STM,byCMR = CMR_SRR;	        			
	if (sja1000p_enable_configuration())
		return  ;	
 	// PeliCAN Mode 
	can_write_reg(  0xC8, SJACDR); 			
	can_write_reg(  0x1a, SJAOCR);
	can_write_reg(  0x18, SJABTR0);  		
	can_write_reg(  0xef, SJABTR1);	
		
	Delay(10);	
	can_write_reg( 0x00, 16); 
	can_write_reg( 0x00, 17); 
	can_write_reg( 0x00, 18); 
	can_write_reg( 0x00, 19); 
	
	can_write_reg( 0xff, 20); 
	can_write_reg( 0xff, 21); 	
	can_write_reg( 0xff, 22); 
	can_write_reg( 0xff, 23); 	
	
	Sleep(5);

	RETAILMSG(1, (TEXT(" reset status After Setting \r\n")));
	TestReadAllRegs();		  		 
	
	sja1000p_disable_configuration();
					
 	 //Enter Self Test Mode  
	can_write_reg( MOD_AFM, SJAMOD);		
	
	can_write_reg(  ENABLE_INTERRUPTS, SJAIER);		
	can_read_reg ( SJAIR );
 
  	RETAILMSG(1, (TEXT(" Operate status init \r\n")));
 	TestReadAllRegs();  
 
			
	for( regtmp = 0; regtmp <= 12; regtmp++)
	{
	     Reg2 = can_read_reg( 96+ regtmp );	
	     RETAILMSG(1, (TEXT(" TX buffer reg%x = %x\r\n"), regtmp+96, Reg2));	     
	}
	
	RETAILMSG(1,(TEXT(" SlefTest-- \r\n")));		
}