1 /******************************************************************************
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3 Cl2.C - PCAN and VCAN cards hardware access library
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5 (C) Copyright 1997 Unicontrols a.s.
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9 FIRMA : CVUT FEL, Dept. of Measurement
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11 DULEZITE UPOZORNENI:
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13 ARCHIVACNI INFORMACE:
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16 12.12.2000, J.B., cl2_receive_data - time stamp for even number of bytes corr.
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17 26.8.1998 - cl2_buf_size - corrected, new function return code CL2_BAD_PARAM
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18 cl2_clr_async_buffer - corrected
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20 ===============================================================================
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24 ******************************************************************************/
\r
26 /* Constnt used by CL2 functions */
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27 #define CL2_TMP_RF 0x0800
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28 #define CL2_TMP_EX 0x0400
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29 #define CL2_TMP_EX2 0x0004
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30 #define CL2_TMP_EXHIGH 0x80000000L
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34 #include "../include/canmsg.h"
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35 #include "../include/unican_types.h"
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36 #include "../include/unican_cl2.h"
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39 /*******************************************************************************
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40 * cl2_init_card - initialize card to default parameters
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43 * Command installs card. The data in sCAN_CARD structure pointed
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44 * by *card are initialized to their predefined default values.
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45 * Command must be called before any operation with sCAN_CARD
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49 * CL2_OK - command completed succesfuly
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52 eCL2_RESULT cl2_init_card
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54 sCAN_CARD *card, /* Pointer to card structure */
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55 void *baseAddress, /* Card base address pointer */
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56 U16 intNumber /* Card interrupt number */
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61 card->intNumber = intNumber;
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62 card->baseAddressPtr = (U8*)baseAddress;
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63 card->rxBufBase = card->baseAddressPtr + CL2_RX_BUFFER_DEFAULT;
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64 card->asyncTxBufBase = card->baseAddressPtr + CL2_ASYNC_BUFFER_DEFAULT;
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65 card->syncTxBufBase = card->baseAddressPtr + CL2_SYNC_BUFFER_DEFAULT;
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66 card->rxBufPtr = card->rxBufBase;
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67 card->asyncTxBufPtr = card->asyncTxBufBase;
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68 card->syncTxBufPtr = card->syncTxBufBase;
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69 card->commandRegister = card->baseAddressPtr+CL2_COMMAND_REGISTER;
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70 card->dataPtr = card->baseAddressPtr + CL2_DATA_BUFFER;
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71 card->rxBufSize = CL2_RX_BUFFER_SIZE;
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72 card->syncTxBufSize = CL2_TX_SYNC_BUFFER_SIZE;
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73 card->asyncTxBufSize = CL2_TX_ASYNC_BUFFER_SIZE;
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75 for ( i = 0; i < 10; i++ ) card->rtrSub[i] = 0xFFFFFFFFL;
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77 } /* cl2_init_card */
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80 /*******************************************************************************
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81 * cl2_test_card - test card
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84 * Test whether the card is installed in system and working properly
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85 * or not. If this function fails (return value is CL2_HW_FAILURE)
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86 * check if the card is present and card base address.
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89 * CL2_OK - card is present and working properly
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90 * CL2_HW_FAILURE - card not found or card error
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93 eCL2_RESULT cl2_test_card
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95 sCAN_CARD *card /* Pointer to card structure */
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98 BOOLEAN1 isAA = FALSE, is55 = FALSE;
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100 U16 volatile tmpWord;
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102 /* timeout for card testing - 1000 read cycles */
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103 for ( i = 0; i < 10000; i++ )
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105 if ( isAA && is55 ) return CL2_OK;
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106 tmpWord = *((U16*)(card->baseAddressPtr));
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107 if ( (tmpWord & 0x00FF) == 0x00AA ) isAA = TRUE;
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108 if ( (tmpWord & 0x00FF) == 0x0055 ) is55 = TRUE;
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111 return CL2_HW_FAILURE;
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112 } /* cl2_test_card */
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115 /*******************************************************************************
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116 * cl2_reset_card - reset card
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119 * Card pointed by *card gets hardware reset. This command resets
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120 * card processor, card settings are restored to their default
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124 * CL2_OK - command completed successfuly
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127 eCL2_RESULT cl2_reset_card
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129 sCAN_CARD *card /* Pointer to card structure */
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132 *((U16*)(card->baseAddressPtr + CL2_RESET_REGISTER)) = 0x0000;
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134 } /* cl2_reset_card */
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137 /*******************************************************************************
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138 * cl2_get_version - read card version
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141 * Fucntion reads a value from card version register.
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144 * CL2_OK - command completed successfuly
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147 eCL2_RESULT cl2_get_version
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149 sCAN_CARD *card, /* Pointer to card structure */
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150 U16 *version /* returns card version */
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153 *version = *((U16*)(card->baseAddressPtr + CL2_VERSION_REGISTER));
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155 } /* cl2_get_version */
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158 /*******************************************************************************
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159 * cl2_gen_interrupt - request for interrupt
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160 * """""""""""""""""
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162 * CAN card is requested to generate interrupt if there is any reason
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163 * to do it. The condition for interrupt generation is defined by
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164 * cl2_int_mode command.
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167 * CL2_OK - command completed successfuly
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170 eCL2_RESULT cl2_gen_interrupt
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172 sCAN_CARD *card /* Pointer to card structure */
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175 *((U16*)(card->baseAddressPtr + CL2_GEN_INT_REGISTER)) = 0x0000;
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177 } /* cl2_gen_interrupt */
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180 /*******************************************************************************
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181 * cl2_start_it - start inhibit time
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184 * Command starts interrupt inhibit time. If there is any reason for
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185 * interrupt geneation, the card generates interrupt after end of
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186 * specified time interval. Time interval is set by cl2_set_iit command.
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189 * CL2_OK - command completed successfuly
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192 eCL2_RESULT cl2_start_it
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194 sCAN_CARD *card /* Pointer to card structure */
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197 *((U16*)(card->baseAddressPtr + CL2_START_IT_REGISTER)) = 0x0000;
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199 } /* cl2_start_it */
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202 /*******************************************************************************
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203 * cl2_clear_interrupt - clear interrupt
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204 * """""""""""""""""""
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206 * Comand clears interrupt (IRQ) generated by a card.
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209 * CL2_OK - command completed successfuly
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212 eCL2_RESULT cl2_clear_interrupt
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214 sCAN_CARD *card /* Pointer to card structure */
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217 *((U16*)(card->baseAddressPtr + CL2_CLEAR_INT_REGISTER)) = 0x0000;
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219 } /* cl2_clear_interrupt */
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222 /*******************************************************************************
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223 * cl2_int_mode - set interrupt mode
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226 * Command controls, which event will generate interrupt. Constants
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227 * CL2_INT_XXXX are used for setting of interrupt mode.
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230 * CL2_OK - command completed successfuly
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231 * CL2_BAD_PARAM - bad command parameter
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232 * CL2_COMMAND_BUSY - previous command not completed
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235 eCL2_RESULT cl2_int_mode
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237 sCAN_CARD *card, /* Pointer to card structure */
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238 U16 mode /* Interrupt mode */
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241 if ( mode > INT_MODE_ALL ) return CL2_BAD_PARAM;
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242 if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
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243 return CL2_COMMAND_BUSY;
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244 *((U16*)card->dataPtr) = mode;
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245 *((U16*)card->commandRegister) = ((U16)cmCL2_INT_MODE + CL2_COMMAND_VALID);
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247 } /* cl2_int_mode */
\r
250 /*******************************************************************************
\r
251 * cl2_iit_mode - inhibit interrupt time mode
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254 * Command enables/disables inhibit interupt time mode.
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257 * CL2_OK - command completed successfuly
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258 * CL2_COMMAND_BUSY - previous command not completed
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261 eCL2_RESULT cl2_iit_mode
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263 sCAN_CARD *card, /* Pointer to card structure */
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264 BOOLEAN1 onoff /* IIT mode - TRUE=on, FALSE=off */
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267 if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID ) return
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269 *((U16*)card->dataPtr) = (U16)onoff;
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270 *((U16*)card->commandRegister) = ((U16)cmCL2_IIT_MODE + CL2_COMMAND_VALID);
\r
272 } /* cl2_iit_mode */
\r
275 /*******************************************************************************
\r
276 * cl2_sync_mode - sync mode
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279 * Command enables/disables transmission of SYNC frames.
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282 * CL2_OK - command completed successfuly
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283 * CL2_COMMAND_BUSY - previous command not completed
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286 eCL2_RESULT cl2_sync_mode
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288 sCAN_CARD *card, /* Pointer to card structure */
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289 BOOLEAN1 onoff /* Sync mode - TRUE=on, FALSE=off */
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292 if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
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293 return CL2_COMMAND_BUSY;
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294 *((U16*)card->dataPtr) = (U16)onoff;
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295 *((U16*)card->commandRegister) = ((U16)cmCL2_SYNC_MODE + CL2_COMMAND_VALID);
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297 } /* cl2_sync_mode */
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300 /*******************************************************************************
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301 * cl2_rtr_mode - rtr mode
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304 * Command enables/disables automatic transmission of RTR frames
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307 * CL2_OK - command completed successfuly
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308 * CL2_COMMAND_BUSY - previous command not completed
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311 eCL2_RESULT cl2_rtr_mode
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313 sCAN_CARD *card, /* Pointer to card structure */
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314 BOOLEAN1 onoff /* RTR mode - TRUE=on, FALSE=off */
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317 if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
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318 return CL2_COMMAND_BUSY;
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319 *((U16*)card->dataPtr) = (U16)onoff;
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320 *((U16*)card->commandRegister) = ((U16)cmCL2_RTR_MODE + CL2_COMMAND_VALID);
\r
322 } /* cl2_rtr_mode */
\r
325 /*******************************************************************************
\r
326 * cl2_buf_size - size of synchronous queue
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329 * Command sets the size of synchronous send buffer. The size is
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330 * in numbers of messages. Default buffer size is 32 messages.
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331 * The sum of synchronous_buffer_size and asynchronous_buffer_size
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332 * is constant and equal to 64. So, if the size od synchronous
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333 * buffer increases, the size of asynchronous buffer decreases and
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335 * NOTE: 1 message = 16 bytes
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338 * CL2_OK - command completed successfully
\r
339 * CL2_COMMAND_BUSY - previous command not completed
\r
340 * CL2_BAD_PARAM - bad command parameter (bufSize>64)
\r
343 eCL2_RESULT cl2_buf_size
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345 sCAN_CARD *card, /* Pointer to card structure */
\r
346 U16 bufSize /* Size of synchronous buffer */
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349 if ( bufSize > 64 ) return CL2_BAD_PARAM;
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350 if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
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351 return CL2_COMMAND_BUSY;
\r
352 *((U16*)card->dataPtr) = bufSize;
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353 *((U16*)card->commandRegister) = ((U16)cmCL2_BUF_SIZE + CL2_COMMAND_VALID);
\r
354 card->syncTxBufSize = bufSize;
\r
355 card->asyncTxBufSize = 64 - bufSize;
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356 card->syncTxBufPtr = card->syncTxBufBase;
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357 card->asyncTxBufPtr = card->asyncTxBufBase = card->syncTxBufBase+bufSize*16;
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359 } /* cl2_buf_size */
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362 /*******************************************************************************
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363 * cl2_set_iit - set value of inhibit interrupt time
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366 * Command sets value of inhibit interrupt time. If inhibit
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367 * interrupt time mode is enabled and started, generation of
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368 * interrupt (IRQ) is disabled during this time period.
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369 * Inhibit interrupt time can be set from 100 us to 6.5535 s
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372 * CL2_OK - command completed successfuly
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373 * CL2_COMMAND_BUSY - previous command not completed
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376 eCL2_RESULT cl2_set_iit
\r
378 sCAN_CARD *card, /* Pointer to card structure */
\r
379 U16 iit /* time period in x100 us */
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382 if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
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383 return CL2_COMMAND_BUSY;
\r
384 *((U16*)card->dataPtr) = iit;
\r
385 *((U16*)card->commandRegister) = ((U16)cmCL2_SET_IIT + CL2_COMMAND_VALID);
\r
387 } /* cl2_set_iit */
\r
390 /*******************************************************************************
\r
391 * cl2_start_firmware - start firmware
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392 * """"""""""""""""""
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394 * Command starts card firmware
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397 * CL2_OK - command completed successfuly
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398 * CL2_COMMAND_BUSY - previous command not completed
\r
401 eCL2_RESULT cl2_start_firmware
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403 sCAN_CARD *card /* Pointer to card structure */
\r
406 if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
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407 return CL2_COMMAND_BUSY;
\r
408 *((U16*)card->commandRegister) = ((U16)cmCL2_START_FIRMWARE +
\r
409 CL2_COMMAND_VALID);
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411 } /* cl2_start_firmware */
\r
414 /*******************************************************************************
\r
415 * cl2_set_rec_mode - set receive mode
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418 * Command sets card receive mode. This enable reception of standard
\r
419 * or extended frames according to CAN 2.0A and 2.0B specifications.
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420 * If value of mode is TRUE, card receives extended frames, if mode
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421 * is FALSE, card receives standard massage format (default).
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424 * CL2_OK - command completed successfuly
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425 * CL2_COMMAND_BUSY - previous command not completed
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428 eCL2_RESULT cl2_set_rec_mode
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430 sCAN_CARD *card, /* Pointer to card structure */
\r
431 BOOLEAN1 mode /* Mode - TRUE=ext, FALSE=std */
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434 if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
\r
435 return CL2_COMMAND_BUSY;
\r
436 *((U16*)card->dataPtr) = (U16)mode;
\r
437 *((U16*)card->commandRegister) = ((U16)cmCL2_SET_REC_MODE +
\r
438 CL2_COMMAND_VALID);
\r
440 } /* cl2_set_rec_mode */
\r
443 /*******************************************************************************
\r
444 * cl2_clr_rx_buffer - clear RX buffer
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445 * """""""""""""""""
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447 * Command clears receive (rx) buffer. All messages stored in
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448 * rx buffer will be lost.
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451 * CL2_OK - command completed successfuly
\r
452 * CL2_COMMAND_BUSY - previous command not completed
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455 eCL2_RESULT cl2_clr_rx_buffer
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457 sCAN_CARD *card /* Pointer to card structure */
\r
460 if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
\r
461 return CL2_COMMAND_BUSY;
\r
462 card->rxBufPtr = card->rxBufBase;
\r
463 *((U16*)card->commandRegister) = ((U16)cmCL2_CLR_RX_BUFFER +
\r
464 CL2_COMMAND_VALID);
\r
466 } /* cl2_clr_rx_buffer */
\r
469 /*******************************************************************************
\r
470 * cl2_clr_sync_buffer - clear synchronous buffer
\r
471 * """""""""""""""""""
\r
473 * Command clears synchronous send buffer. All messages stored
\r
474 * in synchronous buffer will be lost.
\r
477 * CL2_OK - command completed successfuly
\r
478 * CL2_COMMAND_BUSY - previous command not completed
\r
481 eCL2_RESULT cl2_clr_sync_buffer
\r
483 sCAN_CARD *card /* Pointer to card structure */
\r
486 if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
\r
487 return CL2_COMMAND_BUSY;
\r
488 card->syncTxBufPtr = card->syncTxBufBase;
\r
489 *((U16*)card->commandRegister) = ((U16)cmCL2_CLR_SYNC_BUFFER +
\r
490 CL2_COMMAND_VALID);
\r
492 } /* cl2_clr_sync_buffer */
\r
495 /*******************************************************************************
\r
496 * cl2_clr_async_buffer - clear asynchronous buffer
\r
497 * """"""""""""""""""""
\r
499 * Command clears asynchronnous send buffer. All messages stored
\r
500 * in async buffer will be lost.
\r
503 * CL2_OK - command completed successfuly
\r
504 * CL2_COMMAND_BUSY - previous command not completed
\r
507 eCL2_RESULT cl2_clr_async_buffer
\r
509 sCAN_CARD *card /* Pointer to card structure */
\r
512 if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
\r
513 return CL2_COMMAND_BUSY;
\r
514 card->asyncTxBufPtr = card->syncTxBufBase + card->syncTxBufSize*16;
\r
515 *((U16*)card->commandRegister) = ((U16)cmCL2_CLR_ASYNC_BUFFER +
\r
516 CL2_COMMAND_VALID);
\r
518 } /* cl2_clr_async_buffer */
\r
521 /*******************************************************************************
\r
522 * cl2_send_time_sync - send time synchronization
\r
523 * """"""""""""""""""
\r
525 * Command forces the card to start the High Resolution Synchronization
\r
526 * Protocol according to the CANopen Communication profile. The SYNC
\r
527 * mode has to be enabled (cl2_sync_mode) otherwise this command has
\r
531 * CL2_OK - command completed successfuly
\r
532 * CL2_COMMAND_BUSY - previous command not completed
\r
535 eCL2_RESULT cl2_send_time_sync
\r
537 sCAN_CARD *card /* Pointer to card structure */
\r
540 if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID ) return
\r
542 *((U16*)card->commandRegister) = ((U16)cmCL2_SEND_TIME_SYNC +
\r
543 CL2_COMMAND_VALID);
\r
545 } /* cl2_send_time_sync */
\r
548 /*******************************************************************************
\r
549 * cl2_set_time_cobid - set time COB-ID
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550 * """"""""""""""""""
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552 * Command sets the COB-ID for high resolution synchronization
\r
553 * frame. The synchronization can be then made by means of
\r
554 * cl2_send_time_sync command.
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557 * CL2_OK - command completed successfuly
\r
558 * CL2_COMMAND_BUSY - previous command not completed
\r
561 eCL2_RESULT cl2_set_time_cobid
\r
563 sCAN_CARD *card, /* Pointer to card structure */
\r
564 U32 COBID /* HRS frame COB-ID */
\r
567 U16 cobidL, cobidH;
\r
568 U16 *ptr = (U16 *)card->dataPtr;
\r
570 if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
\r
571 return CL2_COMMAND_BUSY;
\r
573 if ( COBID & CL2_TMP_EXHIGH ) /* standard or extended format? */
\r
576 cobidL = (U16)(COBID & 0x0000FFFFL);
\r
577 cobidH = (U16)((COBID & 0xFFFF0000L)>>16);
\r
578 cobidH = ((cobidH >> 8) & 0x00FF) | (((cobidH << 8) & 0xFF00));
\r
580 cobidL = ((cobidL >> 8) & 0x00FF) | (((cobidL << 8) & 0xFF00));
\r
582 *ptr = CL2_TMP_EX2;
\r
587 cobidH = (U16)(COBID & 0x0000FFFFL);
\r
588 cobidH = ((cobidH >> 8) & 0x00FF) | (((cobidH << 8) & 0xFF00));
\r
594 *((U16*)card->commandRegister) = ((U16)cmCL2_SET_TIME_COBID +
\r
595 CL2_COMMAND_VALID);
\r
597 } /* cl2_set_time_cobid */
\r
600 /*******************************************************************************
\r
601 * cl2_set_receive_limit - set limit for receive signaling
\r
602 * """""""""""""""""""""
\r
604 * Command is used to set the receive limit signalized by bit
\r
605 * RL (in CL2.H CL2_X_DATA_IN_RBUF) of the Status Register.
\r
606 * This bit is set when more then the limit number of frames
\r
607 * was received since the last interrupt was generated (in interrupt
\r
608 * mode) or since the Status Register was last time read.
\r
612 * CL2_COMMAND_BUSY - previous command not completed
\r
613 * CL2_BAD_PARAM - bad command parameter
\r
615 eCL2_RESULT cl2_set_receive_limit
\r
617 sCAN_CARD *card, /* pointer to card structure */
\r
618 U16 limit /* limit of messages in receive buffer */
\r
621 if ( limit > 127 ) return CL2_BAD_PARAM;
\r
622 if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
\r
623 return CL2_COMMAND_BUSY;
\r
624 *((U16*)card->dataPtr) = limit;
\r
625 *((U16*)card->commandRegister) = ((U16)cmCL2_SET_RECEIVE_LIMIT +
\r
626 CL2_COMMAND_VALID);
\r
628 } /* cl2_set_receive_limit */
\r
631 /*******************************************************************************
\r
632 * cl2_download_rtr_list - download rtr list
\r
633 * """""""""""""""""""""
\r
635 * Command downloads a list of up to 64 RTR frames. These frames are
\r
636 * periodically transmitted by the card. The parameters, how often
\r
637 * frames are send and in which SYNC period is defined by period and
\r
638 * subperiod in sRTR_FRAME structure.
\r
641 * CL2_OK - command completed successfuly
\r
642 * CL2_COMMAND_BUSY - previous command not completed
\r
643 * CL2_BAD_PARAM - bad command parameter
\r
646 eCL2_RESULT cl2_download_rtr_list
\r
648 sCAN_CARD *card, /* Pointer to card structure */
\r
649 sRTR_LIST *rtrList /* RTR list */
\r
652 U16 *ptrTmp = (U16*)card->dataPtr;
\r
653 sRTR_FRAME *ptrRTR = rtrList->data;
\r
656 U16 cobidH, cobidL, i;
\r
658 if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID ) return
\r
660 if ( rtrList->nb > 64 ) return CL2_BAD_PARAM;
\r
662 *ptrTmp++ = (U16)rtrList->nb;
\r
663 for ( i = 0; i < rtrList->nb; i++ )
\r
665 if ( ptrRTR->period < ptrRTR->subperiod ) return CL2_BAD_PARAM;
\r
666 if ( ptrRTR->subperiod == 0 ) ptrRTR->subperiod = 1;
\r
667 tmpU16 = (ptrRTR->period & 0x00FF) + ((ptrRTR->subperiod & 0x00FF)<<8);
\r
668 *ptrTmp++ = tmpU16;
\r
669 COBID = ptrRTR->cob_id;
\r
671 if ( COBID & CL2_TMP_EXHIGH ) /* standard or extended format? */
\r
674 cobidL = (U16)(COBID & 0x0000FFFFL);
\r
675 cobidH = (U16)((COBID & 0xFFFF0000L)>>16);
\r
676 cobidH = ((cobidH >> 8) & 0x00FF) | (((cobidH << 8) & 0xFF00));
\r
677 *ptrTmp++ = cobidH;
\r
678 cobidL = ((cobidL >> 8) & 0x00FF) | (((cobidL << 8) & 0xFF00));
\r
679 *ptrTmp++ = cobidL;
\r
684 cobidH = (U16)(COBID & 0x0000FFFFL);
\r
685 cobidH = ((cobidH >> 8) & 0x00FF) | (((cobidH << 8) & 0xFF00));
\r
686 *ptrTmp++ = cobidH;
\r
690 *ptrTmp++ = 0x0000; /* rezerva */
\r
694 *((U16*)card->commandRegister) = ((U16)cmCL2_DOWNLOAD_RTR_LIST +
\r
695 CL2_COMMAND_VALID);
\r
697 } /* cl2_download_rtrlist */
\r
700 /*******************************************************************************
\r
701 * cl2_subscribe_rtr - subscribe RTR frame
\r
702 * """""""""""""""""
\r
704 * Command subscribes RTR frame. Incoming RTR frames which were
\r
705 * subscribed are accepted, while other are ignored. Up to 10
\r
706 * RTR frames can be subscribed.
\r
709 * CL2_OK - command completed successfuly
\r
710 * CL2_COMMAND_BUSY - previous command not completed
\r
711 * CL2_BAD_PARAM - bad command parameter
\r
714 eCL2_RESULT cl2_subscribe_rtr
\r
716 sCAN_CARD *card, /* Pointer to card structure */
\r
717 sCAN_MESSAGE *canMessage, /* RTR frame */
\r
718 U16 RTRnumber /* number of RTR */
\r
721 U16 *ptrU16 = (U16*)card->dataPtr;
\r
723 U16 cobidH, cobidL;
\r
725 if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
\r
726 return CL2_COMMAND_BUSY;
\r
727 if ( RTRnumber > 9 ) return CL2_BAD_PARAM;
\r
729 card->rtrSub[RTRnumber] = canMessage->COB_ID;
\r
730 *ptrU16 = RTRnumber;
\r
732 COBID = canMessage->COB_ID;
\r
734 if ( COBID & CL2_TMP_EXHIGH ) /* standard or extended format? */
\r
737 cobidL = (U16)(COBID & 0x0000FFFFL);
\r
738 cobidH = (U16)((COBID & 0xFFFF0000L)>>16);
\r
739 cobidH = ((cobidH >> 8) & 0x00FF) | (((cobidH << 8) & 0xFF00));
\r
740 *ptrU16++ = cobidH;
\r
741 cobidL = ((cobidL >> 8) & 0x00FF) | (((cobidL << 8) & 0xFF00));
\r
742 *ptrU16++ = cobidL;
\r
743 *ptrU16 = (U16)CL2_EXT_FRAME;
\r
748 cobidH = (U16)(COBID & 0x0000FFFFL);
\r
749 cobidH = ((cobidH >> 8) & 0x00FF) | (((cobidH << 8) & 0xFF00));
\r
750 *ptrU16++ = cobidH;
\r
755 *((U16*)card->commandRegister) = ((U16)cmCL2_SUBSCRIBE_RTR +
\r
756 CL2_COMMAND_VALID);
\r
758 } /* cl2_subscribe_rtr */
\r
761 /*******************************************************************************
\r
762 * cl2_desubscribe_rtr - desubscribe rtr frame
\r
763 * """""""""""""""""""
\r
765 * Command desubscribes RTR frame. Card will not accept RTR frames
\r
766 * with this identifier.
\r
769 * CL2_OK - command completed successfuly
\r
770 * CL2_COMMAND_BUSY - previous command not completed
\r
771 * CL2_BAD_PARAM - bad command parameter
\r
774 eCL2_RESULT cl2_desubscribe_rtr
\r
776 sCAN_CARD *card, /* Pointer to card structure */
\r
777 sCAN_MESSAGE *canMessage /* RTR frame */
\r
782 if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
\r
783 return CL2_COMMAND_BUSY;
\r
785 for ( i = 0; i < 10; i++ )
\r
787 if ( card->rtrSub[i] == canMessage->COB_ID )
\r
789 card->rtrSub[i] = 0xFFFFFFFFL;
\r
794 if ( i >= 10 ) return CL2_BAD_PARAM;
\r
796 *((U16*)card->dataPtr) = i;
\r
797 *((U16*)card->commandRegister) = ((U16)cmCL2_DESUBSCRIBE_RTR +
\r
798 CL2_COMMAND_VALID);
\r
800 } /* cl2_desubscribe_rtr */
\r
804 /*******************************************************************************
\r
805 * cl2_set_sync_cobid - set COB-ID
\r
806 * """"""""""""""""""
\r
808 * Command sets COB-ID of SYNC frame. In active SYNC mode, the SYNC
\r
809 * frame with this COB-ID is periodically sent with period defined
\r
810 * by cl2_set_sync_period command.
\r
813 * CL2_OK - command completed successfuly
\r
814 * CL2_COMMAND_BUSY - previous command not completed
\r
817 eCL2_RESULT cl2_set_sync_cobid
\r
819 sCAN_CARD *card, /* Pointer to card structure */
\r
820 U32 COBID /* COB-ID */
\r
823 U16 cobidL, cobidH;
\r
824 U16 *ptr = (U16 *)card->dataPtr;
\r
826 if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
\r
827 return CL2_COMMAND_BUSY;
\r
829 if ( COBID & CL2_TMP_EXHIGH ) /* standard or extended format? */
\r
832 cobidL = (U16)(COBID & 0x0000FFFFL);
\r
833 cobidH = (U16)((COBID & 0xFFFF0000L)>>16);
\r
834 cobidH = ((cobidH >> 8) & 0x00FF) | (((cobidH << 8) & 0xFF00));
\r
836 cobidL = ((cobidL >> 8) & 0x00FF) | (((cobidL << 8) & 0xFF00));
\r
838 *ptr = CL2_TMP_EX2;
\r
843 cobidH = (U16)(COBID & 0x0000FFFFL);
\r
844 cobidH = ((cobidH >> 8) & 0x00FF) | (((cobidH << 8) & 0xFF00));
\r
850 *((U16*)card->commandRegister) = ((U16)cmCL2_SET_COBID + CL2_COMMAND_VALID);
\r
852 } /* cl2_set_sync_cobid */
\r
855 /*******************************************************************************
\r
856 * cl2_set_sync_period - set SYNC period
\r
857 * """""""""""""""""""
\r
859 * Coomand sets the SYNC frame send period in active SYNC mode in
\r
860 * x100 us. The period range is from 0 to 0xFFFF (SYNC period can
\r
861 * be set from 100us to 6.5535s).
\r
864 * CL2_OK - command completed successfuly
\r
865 * CL2_COMMAND_BUSY - previous command not completed
\r
868 eCL2_RESULT cl2_set_sync_period
\r
870 sCAN_CARD *card, /* Pointer to card structure */
\r
871 U16 period /* period in x100 us */
\r
874 if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
\r
875 return CL2_COMMAND_BUSY;
\r
876 *((U16*)card->dataPtr) = (U16)period;
\r
877 *((U16*)card->commandRegister) = ((U16)cmCL2_SET_SYNC_PERIOD +
\r
878 CL2_COMMAND_VALID);
\r
880 } /* cl2_set_sync_period */
\r
883 /*******************************************************************************
\r
884 * cl2_set_sync_window - set SYNC window
\r
885 * """""""""""""""""""
\r
887 * Command sets the SYNC window length. Only during this time period
\r
888 * after SYNC frame was send or receive the frames from the synchronous
\r
889 * send buffer can be sent.
\r
892 * CL2_OK - command completed successfuly
\r
893 * CL2_COMMAND_BUSY - previous command not completed
\r
896 eCL2_RESULT cl2_set_sync_window
\r
898 sCAN_CARD *card, /* Pointer to card structure */
\r
899 U16 window /* period in x100 us */
\r
902 if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
\r
903 return CL2_COMMAND_BUSY;
\r
904 *((U16*)card->dataPtr) = (U16)window;
\r
905 *((U16*)card->commandRegister) = ((U16)cmCL2_SET_SYNC_WINDOW +
\r
906 CL2_COMMAND_VALID);
\r
908 } /* cl2_set_sync_window */
\r
911 /*******************************************************************************
\r
912 * cl2_set_bitrate - set CAN bit-rate
\r
915 * Command switches the bus bit-rate. There are some predefined
\r
916 * constants CL2_BITRATE_XXXX.
\r
919 * CL2_OK - command completed successfuly
\r
920 * CL2_COMMAND_BUSY - previous command not completed
\r
923 eCL2_RESULT cl2_set_bitrate
\r
925 sCAN_CARD *card, /* Pointer to card structure */
\r
926 U16 bitrate /* CAN bitrate */
\r
929 if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
\r
930 return CL2_COMMAND_BUSY;
\r
931 *((U16*)card->dataPtr) = bitrate;
\r
932 *((U16*)card->commandRegister) = ((U16)cmCL2_SET_BITRATE +
\r
933 CL2_COMMAND_VALID);
\r
935 } /* cl2_set_bitrate */
\r
938 /*******************************************************************************
\r
939 * cl2_bus_reset - resets CAN controller
\r
942 * Command resets CAN controller
\r
945 * CL2_OK - command completed successfuly
\r
946 * CL2_COMMAND_BUSY - previously command not completed
\r
949 eCL2_RESULT cl2_bus_reset
\r
954 if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
\r
955 return CL2_COMMAND_BUSY;
\r
956 *((U16*)card->commandRegister) = ((U16)cmCL2_BUS_RESET +
\r
957 CL2_COMMAND_VALID);
\r
959 } /* cl2_bus_reset */
\r
962 /*******************************************************************************
\r
963 * cl2_send_sync - sends synchronous frame
\r
966 * Command stores massage in synchronous send buffer.
\r
969 * CL2_OK - command completed successfuly
\r
970 * CL2_HW_QUEUE_FULL - synchronous send buffer is full
\r
971 * CL2_BAD_PARAM - bad command parameter
\r
972 * CL2_HW_FAILURE - error in HW configuration
\r
975 eCL2_RESULT cl2_send_sync
\r
977 sCAN_CARD *card, /* pointer to card */
\r
978 sCAN_MESSAGE *message /* massage to be sent */
\r
983 U16 *ptrU16 = (U16*)card->syncTxBufPtr;
\r
988 if ( card->syncTxBufSize==0 ) return CL2_HW_FAILURE;
\r
989 if ( message->dataLength > 8 ) return CL2_BAD_PARAM;
\r
990 if ( *ptrU16 & CL2_FRAME_VALID ) return CL2_HW_QUEUE_FULL;
\r
992 cobid = message->COB_ID;
\r
993 if ( (message->dataType & CL2_EXT_FRAME) || (cobid & CL2_TMP_EXHIGH) )
\r
996 cobidL = (U16)(cobid & 0x0000FFFFL);
\r
997 cobidH = (U16)((cobid & 0xFFFF0000L)>>16);
\r
1000 { /* 2.0A frame */
\r
1003 cobidH = (U16)(cobid & 0x0000FFFFL);
\r
1006 tmpU16 = (cobidH & 0x00FF) + (cobidL & 0xFF00);
\r
1007 *ptrU16++ = tmpU16;
\r
1009 tmpU16 = (((U16)message->dataLength) << 12) + (cobidL & 0x00FF);
\r
1010 if ( !(message->dataType & CL2_REMOTE_FRAME) ) tmpU16 |= CL2_TMP_RF;
\r
1011 if ( (message->dataType & CL2_EXT_FRAME) ||
\r
1012 (message->COB_ID & CL2_TMP_EXHIGH) )
\r
1013 tmpU16 |= CL2_TMP_EX;
\r
1014 *ptrU16++ = tmpU16;
\r
1016 for ( i = 0; i < message->dataLength; )
\r
1018 tmpU16 = (U16)message->data[i]; i++;
\r
1019 if ( i == message->dataLength )
\r
1022 tmpU16 |= ((message->timeStamp & 0x00FF)<<8);
\r
1023 *ptrU16++ = tmpU16;
\r
1027 tmpU16 |= ((U16)message->data[i]<<8); i++;
\r
1028 *ptrU16++ = tmpU16;
\r
1033 tmpU16 = (message->timeStamp>>8) & 0x00FF;
\r
1038 *ptrU16 = message->timeStamp;
\r
1041 tmpU16 = (((U16)cobidH) & 0xFF00) | CL2_MESSAGE_VALID;
\r
1042 *(U16*)card->syncTxBufPtr = tmpU16;
\r
1044 if ( (card->syncTxBufBase + card->syncTxBufSize*16) <=
\r
1045 (card->syncTxBufPtr += 16) )
\r
1047 card->syncTxBufPtr = card->syncTxBufBase;
\r
1050 } /* cl2_send_sync */
\r
1053 /*******************************************************************************
\r
1054 * cl2_send_async - sends asynchronous frame
\r
1057 * Command stores message in asynchronous send buffer.
\r
1060 * CL2_OK - command completed successfuly
\r
1061 * CL2_HW_QUEUE_FULL - asynchronous buffer full
\r
1062 * CL2_HW_FAILURE - error in HW configuration
\r
1063 * CL2_BAD_PARAM - bad command parameter
\r
1066 eCL2_RESULT cl2_send_async
\r
1068 sCAN_CARD *card, /* pointer to card */
\r
1069 sCAN_MESSAGE *message /* message to be sent */
\r
1073 U16 cobidL,cobidH;
\r
1074 U16 *ptrU16 = (U16*)card->asyncTxBufPtr;
\r
1077 int timeStamp = 0;
\r
1079 if ( card->asyncTxBufSize==0 ) return CL2_HW_FAILURE;
\r
1080 if ( message->dataLength > 8 ) return CL2_BAD_PARAM;
\r
1081 if ( *ptrU16 & CL2_FRAME_VALID ) return CL2_HW_QUEUE_FULL;
\r
1083 cobid = message->COB_ID;
\r
1084 if ( (message->dataType & CL2_EXT_FRAME) || (cobid & CL2_TMP_EXHIGH) )
\r
1085 { /* 2.0B frame */
\r
1087 cobidL = (U16)(cobid & 0x0000FFFFL);
\r
1088 cobidH = (U16)((cobid & 0xFFFF0000L)>>16);
\r
1091 { /* 2.0A frame */
\r
1094 cobidH = (U16)(cobid & 0x0000FFFFL);
\r
1097 tmpU16 = (cobidH & 0x00FF ) + (cobidL & 0xFF00);
\r
1098 *ptrU16++ = tmpU16;
\r
1100 tmpU16 = (((U16)message->dataLength) << 12) + (cobidL & 0x00FF);
\r
1101 if ( !(message->dataType & CL2_REMOTE_FRAME) ) tmpU16 |= CL2_TMP_RF;
\r
1102 if ( (message->dataType & CL2_EXT_FRAME) ||
\r
1103 (message->COB_ID & CL2_TMP_EXHIGH ) )
\r
1104 tmpU16 |= CL2_TMP_EX;
\r
1105 *ptrU16++ = tmpU16;
\r
1107 for ( i = 0; i < message->dataLength; )
\r
1109 tmpU16 = (U16)message->data[i]; i++;
\r
1110 if ( i == message->dataLength )
\r
1113 tmpU16 |= ((message->timeStamp & 0x00FF)<<8);
\r
1114 *ptrU16++ = tmpU16;
\r
1118 tmpU16 |= ((U16)message->data[i]<<8); i++;
\r
1119 *ptrU16++ = tmpU16;
\r
1124 tmpU16 = (message->timeStamp>>8) & 0x00FF;
\r
1129 *ptrU16 = message->timeStamp;
\r
1132 tmpU16 = (((U16)cobidH) & 0xFF00) | CL2_MESSAGE_VALID;
\r
1133 *(U16*)card->asyncTxBufPtr = tmpU16;
\r
1135 if ( (card->asyncTxBufBase + card->asyncTxBufSize*16) <=
\r
1136 (card->asyncTxBufPtr += 16) )
\r
1138 card->asyncTxBufPtr = card->asyncTxBufBase;
\r
1141 } /* cl2_send_async */
\r
1144 /*******************************************************************************
\r
1145 * cl2_get_status - reads card status
\r
1148 * Command reads card status register. If data in status register
\r
1149 * are valid (status valid flag is set), the value of status is read
\r
1150 * and stored in status and sCAN_CARD structure.
\r
1153 * CL2_OK - command completed successfuly
\r
1154 * CL2_NO_REQUEST - status is not valid
\r
1157 eCL2_RESULT cl2_get_status
\r
1159 sCAN_CARD *card, /* pointer to card */
\r
1160 U16 *status /* card status word */
\r
1165 ptr = (U16*)(card->baseAddressPtr + CL2_STATUS_REGISTER);
\r
1167 if ( (*status & CL2_STATUS_VALID_FLAG) )
\r
1169 *ptr = *status & ~CL2_STATUS_VALID_FLAG;
\r
1170 card->status = *status;
\r
1173 return CL2_NO_REQUEST;
\r
1174 } /* cl2_get_status */
\r
1177 /*******************************************************************************
\r
1178 * cl2_get_error - reads card error
\r
1181 * Command reads card error register. If data in error register
\r
1182 * are valid (error register valid flag is set), the value of error
\r
1183 * register is read and stored in error and sCAN_CARD structure.
\r
1186 * Cl2_OK - command completed successfuly
\r
1189 eCL2_RESULT cl2_get_error
\r
1191 sCAN_CARD *card, /* pointer to card */
\r
1192 U16 *error /* card error word */
\r
1197 ptr = (U16*)(card->baseAddressPtr + CL2_ERROR_REGISTER);
\r
1199 card->error |= *error;
\r
1202 } /* cl2_get_error */
\r
1205 /*******************************************************************************
\r
1206 * cl2_receive_data - reads received frame
\r
1207 * """"""""""""""""
\r
1209 * Command reads new messages received by a card.
\r
1212 * CL2_OK - command commpleted successfuly
\r
1213 * CL2_NO_REQUEST - there is no new message
\r
1216 eCL2_RESULT cl2_receive_data
\r
1218 sCAN_CARD *card, /* Pointer to card structure */
\r
1219 sCAN_MESSAGE *canMessage /* Message */
\r
1222 U16 *ptrU16 = (U16*)card->rxBufPtr;
\r
1226 tmpU16 = *ptrU16++;
\r
1227 if ( !(tmpU16 & CL2_MESSAGE_VALID) ) return CL2_NO_REQUEST;
\r
1228 canMessage->COB_ID = ((U32)(tmpU16 & 0xFF00 )) << 16;
\r
1229 tmpU16 = *ptrU16++;
\r
1230 canMessage->COB_ID |= ((U32)( tmpU16 & 0x00FF )) << 16;
\r
1231 canMessage->COB_ID |= (U32)( tmpU16 & 0xFF00 );
\r
1232 tmpU16 = *ptrU16++;
\r
1233 canMessage->COB_ID |= (U32)( tmpU16 & 0x00FF );
\r
1234 canMessage->dataType = (U8)(( tmpU16 & 0xFF00 ) >> 8);
\r
1236 if ( canMessage->dataType & CL2_EXT_FRAME )
\r
1237 { /* 2.0B frame */
\r
1238 canMessage->COB_ID >>= 3;
\r
1239 /* canMessage->COB_ID |= CL2_TMP_EXHIGH; */
\r
1242 { /* 2.0A frame */
\r
1243 canMessage->COB_ID >>= 21;
\r
1245 canMessage->dataLength = (U8)( (tmpU16 >> 12) & 0x000F );
\r
1246 /* if ( !(tmpU16 & CL2_TMP_RF) ) canMessage->dataType |= CL2_REMOTE_FRAME; */
\r
1247 for ( i = 0; i < canMessage->dataLength; )
\r
1249 tmpU16 = *ptrU16++;
\r
1250 canMessage->data[i++] = (U8)( tmpU16 );
\r
1251 canMessage->data[i++] = (U8)( tmpU16 >> 8 );
\r
1253 if ( canMessage->dataLength & 0x01 )
\r
1255 canMessage->timeStamp = ( (*ptrU16 & 0x00FF) | (tmpU16 & 0xFF00) );
\r
1259 canMessage->timeStamp = *ptrU16 << 8 | *ptrU16 >> 8;
\r
1261 *(U16*)card->rxBufPtr = 0x0000;
\r
1263 /* increment rx-buffer pointer */
\r
1264 if ( (card->rxBufBase + card->rxBufSize*16 ) <= (card->rxBufPtr += 16) )
\r
1266 card->rxBufPtr = card->rxBufBase;
\r
1270 } /* cl2_receive_data */
\r
1273 /* **************************************************************** *
\r
1275 * **************************************************************** */
\r