s3c2410-can.c

2410 spi 外接2515 can转换 驱动代码

#include <linux/config.h>
#include <linux/module.h>
#include <linux/kernel.h>
#include <linux/init.h>

#include <linux/miscdevice.h>
#include <linux/sched.h>
#include <linux/delay.h>
#include <linux/poll.h>
#include <linux/spinlock.h>

#include <linux/irq.h>
#include <linux/delay.h>
#include <linux/vmalloc.h>

#include <linux/2410.h>
#include <linux/spi.h>
#include <linux/MCP2515.h>

#include <asm/system.h>
#include <asm/uaccess.h>
#include <asm/hardware.h>
#include <asm/arch/cpu_s3c2410.h>



#ifdef CONFIG_PM
#include <linux/pm.h>
#endif

#define CAN_MAJOR 198 
#define DEVICE_NAME	"can"
devfs_handle_t devfs_can;

int opencount=0 , clearcan1=0 , clearcan2=0 , clearcan3=0 , resetcan1=0 , resetcan2=0 , resetcan3=0 ;//, fsid3=0 , fsid4=0;//  ,fs = 0; 
U8 qflag=0 , dflag=0;// , fsflag = 0;
U8 revbuf [200][11];
U32 msk;

static void can1_irq_isr(int irq, void *dev_id, struct pt_regs *regs)
{
    U8 qbyte ,readbuf[8];
    //U32 m , m1;
    int i , flags , clear = 0 , old = 0;
    old = rwflag;		//rwflag defined in 2515.h can select flag
    rwflag = 1;
    printk("can1 ok\n");
    clearcan1 = 0;	
    resetcan1 = 0;		
    local_irq_save (flags);  //关闭所有的中断 并保存当前的状态

    qbyte = MCP2515_Read(CANINTF);	//obtain interrupt source

    MCP2515_Write(TEC, 0x00);
    MCP2515_Write(REC, 0x00);
    MCP2515_Write(EFLG, 0x00);
    MCP2515_WriteBits(CANINTF, 0xfc , 0x00);
    EINTPEND = 0x040000;
    ClearPending(0x00040000);
	
    if(qbyte & RX0INT)
    {
      clear = 1;
	//int Can_Read(int n,U32* id, U8 *pdata,  U8*dlc, int* rxRTR, int *isExt)
      Can_Read (0,&id1, readbuf,  &dlc1, &rxRTR1, &isExt1);	//idn:sid<10:0>--eid<17:0>
      if (qflag<200)			//qflag?????
        {
         qflag = qflag+1;
         revbuf[qflag][0] = (U8) (id1>>16);	//revbuf[qflag][0]=sid<5:0>--eid<17:16>
         revbuf[qflag][1] = (U8) (id1>>8);	//revbuf[qflag][1]=eid<15:8>
         revbuf[qflag][2] = (U8) (id1);	//revbuf[qflag][2]=eid<7:0>
         for (i=0;i<8;i++)
          revbuf[qflag][i+3]=readbuf[i];	//RX data
        }
      else
        {
         qflag = 1;
         revbuf[qflag][0] = (U8) (id1>>16);
         revbuf[qflag][1] = (U8) (id1>>8);
         revbuf[qflag][2] = (U8) (id1);
         for (i=0;i<8;i++)
          revbuf[qflag][i+3]=readbuf[i];
        }
        printk("can1_1 ok\n");
        //CanWrite(id1, readbuf, dlc1, isExt1, rxRTR1);
    }
    else 
    if(qbyte & RX1INT)
    {
     clear  = 2;
     Can_Read (1,&id2, readbuf,  &dlc2, &rxRTR2, &isExt2);
       if (qflag<200)
        {
         qflag = qflag+1;
         revbuf[qflag][0] = (U8) (id2>>16);
         revbuf[qflag][1] = (U8) (id2>>8);
         revbuf[qflag][2] = (U8) (id2);
         for (i=0;i<8;i++)
          revbuf[qflag][i+3]=readbuf[i];
        }
        else
        {
         qflag = 1;
         revbuf[qflag][0] = (U8) (id2>>16);
         revbuf[qflag][1] = (U8) (id2>>8);
         revbuf[qflag][2] = (U8) (id2);
         for (i=0;i<8;i++)
          revbuf[qflag][i+3]=readbuf[i];
        }
        printk("can1_2 ok\n");   
        //CanWrite(id2, readbuf, dlc2, isExt2, rxRTR2); 
    }

    rwflag = 1;
    MCP2515_Write(TEC, 0x00);
    MCP2515_Write(REC, 0x00);
    MCP2515_Write(EFLG, 0x00);
    //MCP2515_Write(CANINTF,0x00);
    MCP2515_WriteBits(CANINTF, 0xfc , 0x00);
    if (clear == 1)	//RX0
      MCP2515_WriteBits(CANINTF, RX0INT, (U8)(~(RX0INT)));
    else
     if (clear == 2)	//RX1
       MCP2515_WriteBits(CANINTF, RX1INT, (U8)(~(RX1INT)));
    rwflag = old;

    local_irq_restore(flags);  //打开中断,并恢复状态
}

static void can2_irq_isr(int irq, void *dev_id, struct pt_regs *regs)
{
    U8 qbyte ,readbuf[8];
    //U32 m , m1;
    int i , flags , clear = 0 ,old = 0;
    old = rwflag;
    rwflag = 2;
    clearcan2 = 0;
    resetcan2 = 0;
    printk("can2 ok\n");
    
    local_irq_save (flags);  //关闭所有的中断 并保存当前的状态

    qbyte = MCP2515_Read(CANINTF);

    MCP2515_Write(TEC, 0x00);
    MCP2515_Write(REC, 0x00);
    MCP2515_Write(EFLG, 0x00);
    MCP2515_WriteBits(CANINTF, 0xfc , 0x00);

    if(qbyte & RX0INT)
    {
      clear = 1 ;
      //fsid3 = fsid3+1;
      Can_Read (0,&id3, readbuf,  &dlc3, &rxRTR3, &isExt3);
      if (qflag<200)
        {
         qflag = qflag+1;
         revbuf[qflag][0] = (U8) (id3>>16);
         revbuf[qflag][1] = (U8) (id3>>8);
         revbuf[qflag][2] = (U8) (id3);
         for (i=0;i<8;i++)
          revbuf[qflag][i+3]=readbuf[i];
        }
      else
        {
         qflag = 1;
         revbuf[qflag][0] = (U8) (id3>>16);
         revbuf[qflag][1] = (U8) (id3>>8);
         revbuf[qflag][2] = (U8) (id3);
         for (i=0;i<8;i++)
          revbuf[qflag][i+3]=readbuf[i];
        }
        printk("can2_1 ok\n");
        /*printk("fsid3 = %d \n" , fsid3 );
      if (fsid3  <= 10 )
        {
          rwflag = 1;  //从can1发送数据
          CanWrite(id3, readbuf, dlc3, isExt3, rxRTR3);
        }
      if (fsid3 >= 210)
        {
          fsid3 = 0;  
        }*/
    }
    else 
    if(qbyte & RX1INT)
    {
     clear = 2 ;
     //fsid4 = fsid4 +1;
     Can_Read (1,&id4, readbuf,  &dlc4, &rxRTR4, &isExt4);
       if (qflag<200)
        {
         qflag = qflag+1;
         revbuf[qflag][0] = (U8) (id4>>16);
         revbuf[qflag][1] = (U8) (id4>>8);
         revbuf[qflag][2] = (U8) (id4);
         for (i=0;i<8;i++)
          revbuf[qflag][i+3]=readbuf[i];
        }
        else
        {
         qflag = 1;
         revbuf[qflag][0] = (U8) (id4>>16);
         revbuf[qflag][1] = (U8) (id4>>8);
         revbuf[qflag][2] = (U8) (id4);
         for (i=0;i<8;i++)
          revbuf[qflag][i+3]=readbuf[i];
        }
        printk("can2_2 ok\n");
        /*printk("fsid4 = %d \n" , fsid4 );
      if (fsid4 <= 10)
        {
          rwflag = 1;  //从can1发送数据
          CanWrite(id4, readbuf, dlc4, isExt4, rxRTR4);
        }
      else
        if (fsid4 >= 210)
          {
            fsid4 = 0; 
          }*/
    }
    rwflag = 2;
    MCP2515_Write(TEC, 0x00);
    MCP2515_Write(REC, 0x00);
    MCP2515_Write(EFLG, 0x00);
    //MCP2515_Write(CANINTF,0x00);

    MCP2515_WriteBits(CANINTF, 0xfc , 0x00);
    if (clear == 1)
      MCP2515_WriteBits(CANINTF, RX0INT, (U8)(~(RX0INT)));
    else
     if (clear == 2)
       MCP2515_WriteBits(CANINTF, RX1INT, (U8)(~(RX1INT)));
    rwflag = old;

    local_irq_restore(flags);  //打开中断,并恢复状态
}

static void can3_irq_isr(int irq, void *dev_id, struct pt_regs *regs)
{
    U8 qbyte ,readbuf[8];
    //U32 m , m1;
    int i , flags;
    rwflag = 3;
    clearcan3 = 0;
    //resetcan3 = 0;
    printk("can3 ok\n");
    
    local_irq_save (flags);  //关闭所有的中断 并保存当前的状态

    qbyte = MCP2515_Read(CANINTF);

    MCP2515_Write(TEC, 0x00);
    MCP2515_Write(REC, 0x00);
    MCP2515_Write(EFLG, 0x00);
    MCP2515_WriteBits(CANINTF, 0xfc , 0x00);
    EINTPEND = 0x00000800;
    ClearPending(0x00000800);

    if(qbyte & RX0INT)
    {
      Can_Read (0,&id1, readbuf,  &dlc1, &rxRTR1, &isExt1);
      if (qflag<200)
        {
         qflag = qflag+1;
         revbuf[qflag][0] = (U8) (id1>>16);
         revbuf[qflag][1] = (U8) (id1>>8);
         revbuf[qflag][2] = (U8) (id1);
         for (i=0;i<8;i++)
          revbuf[qflag][i+3]=readbuf[i];
        }
      else
        {
         qflag = 1;
         revbuf[qflag][0] = (U8) (id1>>16);
         revbuf[qflag][1] = (U8) (id1>>8);
         revbuf[qflag][2] = (U8) (id1);
         for (i=0;i<8;i++)
          revbuf[qflag][i+3]=readbuf[i];
        }
       printk("can3_1 ok\n");
    }
    else 
    if(qbyte & RX1INT)
    {
     Can_Read (1,&id2, readbuf,  &dlc2, &rxRTR2, &isExt2);
       if (qflag<200)
        {
         qflag = qflag+1;
         revbuf[qflag][0] = (U8) (id2>>16);
         revbuf[qflag][1] = (U8) (id2>>8);
         revbuf[qflag][2] = (U8) (id2);
         for (i=0;i<8;i++)
          revbuf[qflag][i+3]=readbuf[i];
        }
        else
        {
         qflag = 1;
         revbuf[qflag][0] = (U8) (id2>>16);
         revbuf[qflag][1] = (U8) (id2>>8);
         revbuf[qflag][2] = (U8) (id2);
         for (i=0;i<8;i++)
          revbuf[qflag][i+3]=readbuf[i];
        }
        printk("can3_2 ok\n");    
    }
    rwflag = 3;
    MCP2515_Write(TEC, 0x00);
    MCP2515_Write(REC, 0x00);
    MCP2515_Write(EFLG, 0x00);
    MCP2515_Write(CANINTF,0x00);
    rwflag = 0;
    local_irq_restore(flags);  //打开中断,并恢复状态
}
static int can_ioctl (struct inode *inode,struct file *file,unsigned int cmd,unsigned long arg)
{
	
	return 0;
}
static ssize_t can_read(struct file *filp, char *buffer, size_t count, loff_t *ppos)
{
     int i , can1=0, can2=0 , can3=0;
     U8 copybuf[13], ReadBackCNT,  inte1 ,inte2 , value=0; 

     if (qflag>0)                         //qflag>0,代表can总线上接收到数据了
     {
       if (qflag==dflag)			//dflag???
         {
          //for (i=0;i<10;i++)
            //copybuf[i]= revbuf[dflag][i];
          copybuf[0] = revbuf[dflag][0];
          copybuf[1] = revbuf[dflag][1];
          for (i=0;i<8;i++)
            copybuf[i+2]= revbuf[dflag][i+3];
          copybuf[10] = qflag;
          copybuf[11] = dflag;
          copybuf[12] = revbuf[dflag][2];
        
          copy_to_user(buffer,copybuf,13);
         }
       else
         {
          
          if (dflag<200)
            dflag = dflag+1;
          else
            dflag = 1;
          
          //for (i=0;i<10;i++)
            //copybuf[i]= revbuf[dflag][i];
          copybuf[0] = revbuf[dflag][0];
          copybuf[1] = revbuf[dflag][1];
          for (i=0;i<8;i++)
            copybuf[i+2]= revbuf[dflag][i+3];
          copybuf[10] = qflag;
          copybuf[11] = dflag;
          copybuf[12] = revbuf[dflag][2];

          copy_to_user(buffer,copybuf,13);
         }
      } 
     //return 0;
     clearcan1 = clearcan1 + 1;
     clearcan2 = clearcan2 + 1;
     //clearcan3 = clearcan3 + 1;
     
     if (clearcan1 >=200)    
       {
         //INTMSK |= 0x00000004;
         //fsid3=0 ;
         //fsid4=0 ;
         rwflag = 1;
         resetcan1 = resetcan1 +1;
         can1 = MCP2515_Read (EFLG);
         printk ("can1 = %d \n" , can1);
        if ( resetcan1 >= 4 )
          {
           INTMSK |= 0x00000004;  //屏蔽2号can