canboard.c

can总线c语言 canopen 源程序

/* canBoard.c - implementation of CAN Board routines */

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

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

*/

/* 

DESCRIPTION
implementation of CAN Board routines

*/

/* includes */
#include <vxWorks.h>
#include <errnoLib.h>
#include <stdlib.h>
#include <string.h>
#include <CAN/wnCAN.h>
#include <CAN/canBoard.h>
#include <CAN/canController.h>


/* global variables */

STATUS (*pfn_esd_can_pc104_200_establishLinks)(struct WNCAN_Device *pDev);
void (*pfn_esd_can_pc104_200_close)(struct WNCAN_Device *pDev);
struct WNCAN_Device *(*pfn_esd_can_pc104_200_open)(UINT brdNdx, UINT ctrlNdx);

STATUS (*pfn_esd_can_pci_200_establishLinks)(struct WNCAN_Device *pDev);
void   (*pfn_esd_can_pci_200_close)(struct WNCAN_Device *pDev);
struct WNCAN_Device *(*pfn_esd_can_pci_200_open)(UINT brdNdx, UINT ctrlNdx);

STATUS (*pfn_msmcan_pc104_establishLinks)(struct WNCAN_Device *pDev);
void   (*pfn_msmcan_pc104_close)(struct WNCAN_Device *pDev);
struct WNCAN_Device *(*pfn_msmcan_pc104_open)(UINT brdNdx);

STATUS (*pfn_ppc5xxCAN_establishLinks)(struct WNCAN_Device *pDev);
void   (*pfn_ppc5xxCAN_close)(struct WNCAN_Device *pDev);
struct WNCAN_Device *(*pfn_ppc5xxCAN_open)(UINT ctrlNdx);


STATUS (*pfn_pxa250_can_establishLinks)(struct WNCAN_Device *pDev);
void   (*pfn_pxa250_can_close)(void);
struct WNCAN_Device *(*pfn_pxa250_can_open)(void);


/************************************************************************
*
* WNCAN_Board_establishLinks - connect the function pointers in the
* board structure to the appropriate routines
*
*
* RETURNS: OK or ERROR
*   
* ERRNO: S_can_unknown_board
*
*/
STATUS WNCAN_Board_establishLinks
(
    struct WNCAN_Device *pDev,
    WNCAN_BoardType brdType
)
{
    STATUS retCode = ERROR;
    
    switch(brdType)
    {
        case WNCAN_ESD_PC104_200:
            if(pfn_esd_can_pc104_200_establishLinks)
                retCode = pfn_esd_can_pc104_200_establishLinks(pDev);
            break;
        case WNCAN_ESD_PCI_200:
            if(pfn_esd_can_pci_200_establishLinks)
                retCode = pfn_esd_can_pci_200_establishLinks(pDev);
            break;
        case WNCAN_MSMCAN:
            if(pfn_msmcan_pc104_establishLinks)
                retCode = pfn_msmcan_pc104_establishLinks(pDev);
            break;

	case WNCAN_PPC5XX:
            if(pfn_ppc5xxCAN_establishLinks)
                retCode = pfn_ppc5xxCAN_establishLinks(pDev);
            break;

    case WNCAN_DAYTONA:
            if (pfn_pxa250_can_establishLinks)
                retCode = pfn_pxa250_can_establishLinks(pDev);
            break;

        default:
            errnoSet(S_can_unknown_board);
            retCode = ERROR;
            break; 
    }
    return retCode;
}

/************************************************************************
*
* WNCAN_Board_Open - attempt to open specified board
*
* RETURNS: point to device structure, or 0 on error
*   
* ERRNO: S_can_unknown_board
*
*/
struct WNCAN_Device *WNCAN_Board_Open
(
    UINT brdType,
    UINT brdNdx,
    UINT ctrlNdx
)
{
    struct WNCAN_Device *retDev = 0;
    
    switch(brdType)
    {
        case WNCAN_ESD_PC104_200:
            if(pfn_esd_can_pc104_200_open)
                retDev = pfn_esd_can_pc104_200_open(brdNdx, ctrlNdx);
            break;

        case WNCAN_ESD_PCI_200:
            if(pfn_esd_can_pci_200_open)
                retDev = pfn_esd_can_pci_200_open(brdNdx, ctrlNdx);
            break;

        case WNCAN_MSMCAN:
            if(pfn_msmcan_pc104_open)
                retDev = pfn_msmcan_pc104_open(brdNdx);
            break;

	case WNCAN_PPC5XX:
            if(pfn_ppc5xxCAN_open)
                retDev = pfn_ppc5xxCAN_open(ctrlNdx);
            break;

        case WNCAN_DAYTONA:
            if (pfn_pxa250_can_open)
                retDev = pfn_pxa250_can_open();
            break;

        default:
            errnoSet(S_can_unknown_board);
            retDev = 0;
            break; 
    }
    return retDev;
}

/************************************************************************
*
* WNCAN_Board_Close - close specified CAN Device
*
* RETURNS: N/A
*   
* ERRNO: N/A
*
*/
void WNCAN_Board_Close
(
struct WNCAN_Device *pDev
)
{
    WNCAN_BoardType brdType = pDev->pBrd->brdType;

    switch(brdType)
    {
        case WNCAN_ESD_PC104_200:
            if(pfn_esd_can_pc104_200_close)
                pfn_esd_can_pc104_200_close(pDev);
            break;

        case WNCAN_ESD_PCI_200:
            if(pfn_esd_can_pci_200_close)
                pfn_esd_can_pci_200_close(pDev);
            break;

        case WNCAN_MSMCAN:
            if(pfn_msmcan_pc104_close)
                pfn_msmcan_pc104_close(pDev);
            break;

        case WNCAN_PPC5XX:
            if(pfn_ppc5xxCAN_close)
                pfn_ppc5xxCAN_close(pDev);
            break;

        case WNCAN_DAYTONA:
            if (pfn_pxa250_can_close)
                pfn_pxa250_can_close();
            break;

        default:
            break; 
    }

    return;
}

/************************************************************************
*
* stringToUlong - helper function used by boards to 
*
* RETURNS: Ulong
*   
* ERRNO: N/A
*
*/
ULONG stringToUlong(const char *pStr)
{
    ULONG retVal = 0;
    UINT  base;
    
    if(pStr)
    {
        if(!strncmp(pStr, "0x", 2) || !strncmp(pStr, "0X", 2))
            base = 16;
        else
            base = 10;

        retVal = strtoul(pStr, NULL, base);
    }

    return retVal;

}