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 ******************************************************************************/
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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/can_sysdep.h"
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36 #include "../include/unican_types.h"
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37 #include "../include/unican_cl2.h"
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38 #include "linux/delay.h"
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41 /*******************************************************************************
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42 * cl2_init_card - initialize card to default parameters
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45 * Command installs card. The data in sCAN_CARD structure pointed
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46 * by *card are initialized to their predefined default values.
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47 * Command must be called before any operation with sCAN_CARD
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51 * CL2_OK - command completed succesfuly
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54 eCL2_RESULT cl2_init_card
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56 sCAN_CARD *card, /* Pointer to card structure */
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57 void *baseAddress, /* Card base address pointer */
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58 U16 intNumber /* Card interrupt number */
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63 card->intNumber = intNumber;
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64 card->baseAddressPtr = (U8*)baseAddress;
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65 card->rxBufBase = card->baseAddressPtr + CL2_RX_BUFFER_DEFAULT;
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66 card->asyncTxBufBase = card->baseAddressPtr + CL2_ASYNC_BUFFER_DEFAULT;
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67 card->syncTxBufBase = card->baseAddressPtr + CL2_SYNC_BUFFER_DEFAULT;
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68 card->rxBufPtr = card->rxBufBase;
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69 card->asyncTxBufPtr = card->asyncTxBufBase;
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70 card->syncTxBufPtr = card->syncTxBufBase;
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71 card->commandRegister = card->baseAddressPtr+CL2_COMMAND_REGISTER;
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72 card->dataPtr = card->baseAddressPtr + CL2_DATA_BUFFER;
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73 card->rxBufSize = CL2_RX_BUFFER_SIZE;
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74 card->syncTxBufSize = CL2_TX_SYNC_BUFFER_SIZE;
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75 card->asyncTxBufSize = CL2_TX_ASYNC_BUFFER_SIZE;
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77 for ( i = 0; i < 10; i++ ) card->rtrSub[i] = 0xFFFFFFFFL;
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79 } /* cl2_init_card */
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82 /*******************************************************************************
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83 * cl2_test_card - test card
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86 * Test whether the card is installed in system and working properly
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87 * or not. If this function fails (return value is CL2_HW_FAILURE)
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88 * check if the card is present and card base address.
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91 * CL2_OK - card is present and working properly
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92 * CL2_HW_FAILURE - card not found or card error
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95 eCL2_RESULT cl2_test_card
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97 sCAN_CARD *card /* Pointer to card structure */
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100 BOOLEAN1 isAA = FALSE, is55 = FALSE;
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102 U16 volatile tmpWord;
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104 /* timeout for card testing - 1000 read cycles */
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105 for ( i = 0; i < 10000; i++ )
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107 if ( isAA && is55 ) return CL2_OK;
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108 tmpWord = unican_readw(card->baseAddressPtr);
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109 /*printk("cl2_test_card: %08lx %04x\n", (long)card->baseAddressPtr, tmpWord);*/
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111 if ( (tmpWord & 0x00FF) == 0x00AA ) isAA = TRUE;
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112 if ( (tmpWord & 0x00FF) == 0x0055 ) is55 = TRUE;
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115 return CL2_HW_FAILURE;
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116 } /* cl2_test_card */
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119 /*******************************************************************************
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120 * cl2_reset_card - reset card
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123 * Card pointed by *card gets hardware reset. This command resets
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124 * card processor, card settings are restored to their default
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128 * CL2_OK - command completed successfuly
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131 eCL2_RESULT cl2_reset_card
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133 sCAN_CARD *card /* Pointer to card structure */
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136 unican_writew(0x0000, card->baseAddressPtr + CL2_RESET_REGISTER);
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138 } /* cl2_reset_card */
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141 /*******************************************************************************
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142 * cl2_get_version - read card version
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145 * Fucntion reads a value from card version register.
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148 * CL2_OK - command completed successfuly
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151 eCL2_RESULT cl2_get_version
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153 sCAN_CARD *card, /* Pointer to card structure */
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154 U16 *version /* returns card version */
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157 *version = unican_readw(card->baseAddressPtr + CL2_VERSION_REGISTER);
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159 } /* cl2_get_version */
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162 /*******************************************************************************
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163 * cl2_gen_interrupt - request for interrupt
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164 * """""""""""""""""
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166 * CAN card is requested to generate interrupt if there is any reason
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167 * to do it. The condition for interrupt generation is defined by
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168 * cl2_int_mode command.
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171 * CL2_OK - command completed successfuly
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174 eCL2_RESULT cl2_gen_interrupt
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176 sCAN_CARD *card /* Pointer to card structure */
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179 unican_writew(0x0000, card->baseAddressPtr + CL2_GEN_INT_REGISTER);
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181 } /* cl2_gen_interrupt */
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184 /*******************************************************************************
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185 * cl2_start_it - start inhibit time
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188 * Command starts interrupt inhibit time. If there is any reason for
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189 * interrupt geneation, the card generates interrupt after end of
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190 * specified time interval. Time interval is set by cl2_set_iit command.
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193 * CL2_OK - command completed successfuly
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196 eCL2_RESULT cl2_start_it
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198 sCAN_CARD *card /* Pointer to card structure */
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201 unican_writew(0x0000, card->baseAddressPtr + CL2_START_IT_REGISTER);
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203 } /* cl2_start_it */
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206 /*******************************************************************************
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207 * cl2_clear_interrupt - clear interrupt
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208 * """""""""""""""""""
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210 * Comand clears interrupt (IRQ) generated by a card.
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213 * CL2_OK - command completed successfuly
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216 eCL2_RESULT cl2_clear_interrupt
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218 sCAN_CARD *card /* Pointer to card structure */
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221 unican_writew(0x0000, card->baseAddressPtr + CL2_CLEAR_INT_REGISTER);
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223 } /* cl2_clear_interrupt */
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226 /*******************************************************************************
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227 * cl2_int_mode - set interrupt mode
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230 * Command controls, which event will generate interrupt. Constants
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231 * CL2_INT_XXXX are used for setting of interrupt mode.
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234 * CL2_OK - command completed successfuly
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235 * CL2_BAD_PARAM - bad command parameter
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236 * CL2_COMMAND_BUSY - previous command not completed
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239 eCL2_RESULT cl2_int_mode
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241 sCAN_CARD *card, /* Pointer to card structure */
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242 U16 mode /* Interrupt mode */
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245 if ( mode > INT_MODE_ALL ) return CL2_BAD_PARAM;
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246 if ( unican_readw(card->commandRegister) & CL2_COMMAND_VALID )
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247 return CL2_COMMAND_BUSY;
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248 unican_writew(mode, card->dataPtr);
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249 unican_writew(((U16)cmCL2_INT_MODE + CL2_COMMAND_VALID), card->commandRegister);
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251 } /* cl2_int_mode */
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254 /*******************************************************************************
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255 * cl2_iit_mode - inhibit interrupt time mode
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258 * Command enables/disables inhibit interupt time mode.
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261 * CL2_OK - command completed successfuly
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262 * CL2_COMMAND_BUSY - previous command not completed
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265 eCL2_RESULT cl2_iit_mode
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267 sCAN_CARD *card, /* Pointer to card structure */
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268 BOOLEAN1 onoff /* IIT mode - TRUE=on, FALSE=off */
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271 if ( unican_readw(card->commandRegister) & CL2_COMMAND_VALID ) return
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273 unican_writew((U16)onoff, card->dataPtr);
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274 unican_writew(((U16)cmCL2_IIT_MODE + CL2_COMMAND_VALID), card->commandRegister);
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276 } /* cl2_iit_mode */
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279 /*******************************************************************************
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280 * cl2_sync_mode - sync mode
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283 * Command enables/disables transmission of SYNC frames.
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286 * CL2_OK - command completed successfuly
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287 * CL2_COMMAND_BUSY - previous command not completed
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290 eCL2_RESULT cl2_sync_mode
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292 sCAN_CARD *card, /* Pointer to card structure */
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293 BOOLEAN1 onoff /* Sync mode - TRUE=on, FALSE=off */
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296 if ( unican_readw(card->commandRegister) & CL2_COMMAND_VALID )
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297 return CL2_COMMAND_BUSY;
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298 unican_writew((U16)onoff, card->dataPtr);
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299 unican_writew(((U16)cmCL2_SYNC_MODE + CL2_COMMAND_VALID), card->commandRegister);
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301 } /* cl2_sync_mode */
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304 /*******************************************************************************
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305 * cl2_rtr_mode - rtr mode
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308 * Command enables/disables automatic transmission of RTR frames
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311 * CL2_OK - command completed successfuly
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312 * CL2_COMMAND_BUSY - previous command not completed
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315 eCL2_RESULT cl2_rtr_mode
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317 sCAN_CARD *card, /* Pointer to card structure */
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318 BOOLEAN1 onoff /* RTR mode - TRUE=on, FALSE=off */
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321 if ( unican_readw(card->commandRegister) & CL2_COMMAND_VALID )
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322 return CL2_COMMAND_BUSY;
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323 unican_writew((U16)onoff, card->dataPtr);
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324 unican_writew(((U16)cmCL2_RTR_MODE + CL2_COMMAND_VALID), card->commandRegister);
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326 } /* cl2_rtr_mode */
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329 /*******************************************************************************
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330 * cl2_buf_size - size of synchronous queue
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333 * Command sets the size of synchronous send buffer. The size is
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334 * in numbers of messages. Default buffer size is 32 messages.
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335 * The sum of synchronous_buffer_size and asynchronous_buffer_size
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336 * is constant and equal to 64. So, if the size od synchronous
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337 * buffer increases, the size of asynchronous buffer decreases and
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339 * NOTE: 1 message = 16 bytes
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342 * CL2_OK - command completed successfully
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343 * CL2_COMMAND_BUSY - previous command not completed
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344 * CL2_BAD_PARAM - bad command parameter (bufSize>64)
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347 eCL2_RESULT cl2_buf_size
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349 sCAN_CARD *card, /* Pointer to card structure */
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350 U16 bufSize /* Size of synchronous buffer */
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353 if ( bufSize > 64 ) return CL2_BAD_PARAM;
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354 if ( unican_readw(card->commandRegister) & CL2_COMMAND_VALID )
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355 return CL2_COMMAND_BUSY;
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356 unican_writew(bufSize, card->dataPtr);
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357 unican_writew(((U16)cmCL2_BUF_SIZE + CL2_COMMAND_VALID), card->commandRegister);
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358 card->syncTxBufSize = bufSize;
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359 card->asyncTxBufSize = 64 - bufSize;
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360 card->syncTxBufPtr = card->syncTxBufBase;
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361 card->asyncTxBufPtr = card->asyncTxBufBase = card->syncTxBufBase+bufSize*16;
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363 } /* cl2_buf_size */
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366 /*******************************************************************************
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367 * cl2_set_iit - set value of inhibit interrupt time
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370 * Command sets value of inhibit interrupt time. If inhibit
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371 * interrupt time mode is enabled and started, generation of
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372 * interrupt (IRQ) is disabled during this time period.
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373 * Inhibit interrupt time can be set from 100 us to 6.5535 s
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376 * CL2_OK - command completed successfuly
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377 * CL2_COMMAND_BUSY - previous command not completed
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380 eCL2_RESULT cl2_set_iit
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382 sCAN_CARD *card, /* Pointer to card structure */
\r
383 U16 iit /* time period in x100 us */
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386 if ( unican_readw(card->commandRegister) & CL2_COMMAND_VALID )
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387 return CL2_COMMAND_BUSY;
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388 unican_writew(iit, card->dataPtr);
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389 unican_writew(((U16)cmCL2_SET_IIT + CL2_COMMAND_VALID), card->commandRegister);
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391 } /* cl2_set_iit */
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394 /*******************************************************************************
\r
395 * cl2_start_firmware - start firmware
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396 * """"""""""""""""""
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398 * Command starts card firmware
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401 * CL2_OK - command completed successfuly
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402 * CL2_COMMAND_BUSY - previous command not completed
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405 eCL2_RESULT cl2_start_firmware
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407 sCAN_CARD *card /* Pointer to card structure */
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410 if ( unican_readw(card->commandRegister) & CL2_COMMAND_VALID )
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411 return CL2_COMMAND_BUSY;
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412 unican_writew((U16)cmCL2_START_FIRMWARE + CL2_COMMAND_VALID, card->commandRegister);
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414 } /* cl2_start_firmware */
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417 /*******************************************************************************
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418 * cl2_set_rec_mode - set receive mode
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421 * Command sets card receive mode. This enable reception of standard
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422 * or extended frames according to CAN 2.0A and 2.0B specifications.
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423 * If value of mode is TRUE, card receives extended frames, if mode
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424 * is FALSE, card receives standard massage format (default).
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427 * CL2_OK - command completed successfuly
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428 * CL2_COMMAND_BUSY - previous command not completed
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431 eCL2_RESULT cl2_set_rec_mode
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433 sCAN_CARD *card, /* Pointer to card structure */
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434 BOOLEAN1 mode /* Mode - TRUE=ext, FALSE=std */
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437 if ( unican_readw(card->commandRegister) & CL2_COMMAND_VALID )
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438 return CL2_COMMAND_BUSY;
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439 unican_writew((U16)mode, card->dataPtr);
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440 unican_writew((U16)cmCL2_SET_REC_MODE + CL2_COMMAND_VALID, card->commandRegister);
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442 } /* cl2_set_rec_mode */
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445 /*******************************************************************************
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446 * cl2_clr_rx_buffer - clear RX buffer
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447 * """""""""""""""""
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449 * Command clears receive (rx) buffer. All messages stored in
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450 * rx buffer will be lost.
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453 * CL2_OK - command completed successfuly
\r
454 * CL2_COMMAND_BUSY - previous command not completed
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457 eCL2_RESULT cl2_clr_rx_buffer
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459 sCAN_CARD *card /* Pointer to card structure */
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462 if ( unican_readw(card->commandRegister) & CL2_COMMAND_VALID )
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463 return CL2_COMMAND_BUSY;
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464 card->rxBufPtr = card->rxBufBase;
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465 unican_writew((U16)cmCL2_CLR_RX_BUFFER + CL2_COMMAND_VALID, card->commandRegister);
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467 } /* cl2_clr_rx_buffer */
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470 /*******************************************************************************
\r
471 * cl2_clr_sync_buffer - clear synchronous buffer
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472 * """""""""""""""""""
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474 * Command clears synchronous send buffer. All messages stored
\r
475 * in synchronous buffer will be lost.
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478 * CL2_OK - command completed successfuly
\r
479 * CL2_COMMAND_BUSY - previous command not completed
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482 eCL2_RESULT cl2_clr_sync_buffer
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484 sCAN_CARD *card /* Pointer to card structure */
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487 if ( unican_readw(card->commandRegister) & CL2_COMMAND_VALID )
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488 return CL2_COMMAND_BUSY;
\r
489 card->syncTxBufPtr = card->syncTxBufBase;
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490 unican_writew((U16)cmCL2_CLR_SYNC_BUFFER + CL2_COMMAND_VALID, card->commandRegister);
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492 } /* cl2_clr_sync_buffer */
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495 /*******************************************************************************
\r
496 * cl2_clr_async_buffer - clear asynchronous buffer
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497 * """"""""""""""""""""
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499 * Command clears asynchronnous send buffer. All messages stored
\r
500 * in async buffer will be lost.
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503 * CL2_OK - command completed successfuly
\r
504 * CL2_COMMAND_BUSY - previous command not completed
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507 eCL2_RESULT cl2_clr_async_buffer
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509 sCAN_CARD *card /* Pointer to card structure */
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512 if ( unican_readw(card->commandRegister) & CL2_COMMAND_VALID )
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513 return CL2_COMMAND_BUSY;
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514 card->asyncTxBufPtr = card->syncTxBufBase + card->syncTxBufSize*16;
\r
515 unican_writew((U16)cmCL2_CLR_ASYNC_BUFFER + CL2_COMMAND_VALID, card->commandRegister);
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517 } /* cl2_clr_async_buffer */
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520 /*******************************************************************************
\r
521 * cl2_send_time_sync - send time synchronization
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522 * """"""""""""""""""
\r
524 * Command forces the card to start the High Resolution Synchronization
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525 * Protocol according to the CANopen Communication profile. The SYNC
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526 * mode has to be enabled (cl2_sync_mode) otherwise this command has
\r
530 * CL2_OK - command completed successfuly
\r
531 * CL2_COMMAND_BUSY - previous command not completed
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534 eCL2_RESULT cl2_send_time_sync
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536 sCAN_CARD *card /* Pointer to card structure */
\r
539 if ( unican_readw(card->commandRegister) & CL2_COMMAND_VALID )
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540 return CL2_COMMAND_BUSY;
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541 unican_writew((U16)cmCL2_SEND_TIME_SYNC + CL2_COMMAND_VALID, card->commandRegister);
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543 } /* cl2_send_time_sync */
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546 /*******************************************************************************
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547 * cl2_set_time_cobid - set time COB-ID
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548 * """"""""""""""""""
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550 * Command sets the COB-ID for high resolution synchronization
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551 * frame. The synchronization can be then made by means of
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552 * cl2_send_time_sync command.
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555 * CL2_OK - command completed successfuly
\r
556 * CL2_COMMAND_BUSY - previous command not completed
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559 eCL2_RESULT cl2_set_time_cobid
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561 sCAN_CARD *card, /* Pointer to card structure */
\r
562 U32 COBID /* HRS frame COB-ID */
\r
565 U16 cobidL, cobidH;
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566 U16 *ptr = (U16 *)card->dataPtr;
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568 if ( unican_readw(card->commandRegister) & CL2_COMMAND_VALID )
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569 return CL2_COMMAND_BUSY;
\r
571 if ( COBID & CL2_TMP_EXHIGH ) /* standard or extended format? */
\r
574 cobidL = (U16)(COBID & 0x0000FFFFL);
\r
575 cobidH = (U16)((COBID & 0xFFFF0000L)>>16);
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576 cobidH = ((cobidH >> 8) & 0x00FF) | (((cobidH << 8) & 0xFF00));
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578 cobidL = ((cobidL >> 8) & 0x00FF) | (((cobidL << 8) & 0xFF00));
\r
580 *ptr = CL2_TMP_EX2;
\r
585 cobidH = (U16)(COBID & 0x0000FFFFL);
\r
586 cobidH = ((cobidH >> 8) & 0x00FF) | (((cobidH << 8) & 0xFF00));
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592 unican_writew((U16)cmCL2_SET_TIME_COBID + CL2_COMMAND_VALID, card->commandRegister);
\r
594 } /* cl2_set_time_cobid */
\r
597 /*******************************************************************************
\r
598 * cl2_set_receive_limit - set limit for receive signaling
\r
599 * """""""""""""""""""""
\r
601 * Command is used to set the receive limit signalized by bit
\r
602 * RL (in CL2.H CL2_X_DATA_IN_RBUF) of the Status Register.
\r
603 * This bit is set when more then the limit number of frames
\r
604 * was received since the last interrupt was generated (in interrupt
\r
605 * mode) or since the Status Register was last time read.
\r
609 * CL2_COMMAND_BUSY - previous command not completed
\r
610 * CL2_BAD_PARAM - bad command parameter
\r
612 eCL2_RESULT cl2_set_receive_limit
\r
614 sCAN_CARD *card, /* pointer to card structure */
\r
615 U16 limit /* limit of messages in receive buffer */
\r
618 if ( limit > 127 ) return CL2_BAD_PARAM;
\r
619 if ( unican_readw(card->commandRegister) & CL2_COMMAND_VALID )
\r
620 return CL2_COMMAND_BUSY;
\r
621 unican_writew(limit, card->dataPtr);
\r
622 unican_writew((U16)cmCL2_SET_RECEIVE_LIMIT + CL2_COMMAND_VALID, card->commandRegister);
\r
624 } /* cl2_set_receive_limit */
\r
627 /*******************************************************************************
\r
628 * cl2_download_rtr_list - download rtr list
\r
629 * """""""""""""""""""""
\r
631 * Command downloads a list of up to 64 RTR frames. These frames are
\r
632 * periodically transmitted by the card. The parameters, how often
\r
633 * frames are send and in which SYNC period is defined by period and
\r
634 * subperiod in sRTR_FRAME structure.
\r
637 * CL2_OK - command completed successfuly
\r
638 * CL2_COMMAND_BUSY - previous command not completed
\r
639 * CL2_BAD_PARAM - bad command parameter
\r
642 eCL2_RESULT cl2_download_rtr_list
\r
644 sCAN_CARD *card, /* Pointer to card structure */
\r
645 sRTR_LIST *rtrList /* RTR list */
\r
648 U16 *ptrTmp = (U16*)card->dataPtr;
\r
649 sRTR_FRAME *ptrRTR = rtrList->data;
\r
652 U16 cobidH, cobidL, i;
\r
654 if ( unican_readw(card->commandRegister) & CL2_COMMAND_VALID ) return
\r
656 if ( rtrList->nb > 64 ) return CL2_BAD_PARAM;
\r
658 *ptrTmp++ = (U16)rtrList->nb;
\r
659 for ( i = 0; i < rtrList->nb; i++ )
\r
661 if ( ptrRTR->period < ptrRTR->subperiod ) return CL2_BAD_PARAM;
\r
662 if ( ptrRTR->subperiod == 0 ) ptrRTR->subperiod = 1;
\r
663 tmpU16 = (ptrRTR->period & 0x00FF) + ((ptrRTR->subperiod & 0x00FF)<<8);
\r
664 *ptrTmp++ = tmpU16;
\r
665 COBID = ptrRTR->cob_id;
\r
667 if ( COBID & CL2_TMP_EXHIGH ) /* standard or extended format? */
\r
670 cobidL = (U16)(COBID & 0x0000FFFFL);
\r
671 cobidH = (U16)((COBID & 0xFFFF0000L)>>16);
\r
672 cobidH = ((cobidH >> 8) & 0x00FF) | (((cobidH << 8) & 0xFF00));
\r
673 *ptrTmp++ = cobidH;
\r
674 cobidL = ((cobidL >> 8) & 0x00FF) | (((cobidL << 8) & 0xFF00));
\r
675 *ptrTmp++ = cobidL;
\r
680 cobidH = (U16)(COBID & 0x0000FFFFL);
\r
681 cobidH = ((cobidH >> 8) & 0x00FF) | (((cobidH << 8) & 0xFF00));
\r
682 *ptrTmp++ = cobidH;
\r
686 *ptrTmp++ = 0x0000; /* rezerva */
\r
690 unican_writew((U16)cmCL2_DOWNLOAD_RTR_LIST + CL2_COMMAND_VALID, card->commandRegister);
\r
692 } /* cl2_download_rtrlist */
\r
695 /*******************************************************************************
\r
696 * cl2_subscribe_rtr - subscribe RTR frame
\r
697 * """""""""""""""""
\r
699 * Command subscribes RTR frame. Incoming RTR frames which were
\r
700 * subscribed are accepted, while other are ignored. Up to 10
\r
701 * RTR frames can be subscribed.
\r
704 * CL2_OK - command completed successfuly
\r
705 * CL2_COMMAND_BUSY - previous command not completed
\r
706 * CL2_BAD_PARAM - bad command parameter
\r
709 eCL2_RESULT cl2_subscribe_rtr
\r
711 sCAN_CARD *card, /* Pointer to card structure */
\r
712 sCAN_MESSAGE *canMessage, /* RTR frame */
\r
713 U16 RTRnumber /* number of RTR */
\r
716 U16 *ptrU16 = (U16*)card->dataPtr;
\r
718 U16 cobidH, cobidL;
\r
720 if ( unican_readw(card->commandRegister) & CL2_COMMAND_VALID )
\r
721 return CL2_COMMAND_BUSY;
\r
722 if ( RTRnumber > 9 ) return CL2_BAD_PARAM;
\r
724 card->rtrSub[RTRnumber] = canMessage->COB_ID;
\r
725 *ptrU16 = RTRnumber;
\r
727 COBID = canMessage->COB_ID;
\r
729 if ( COBID & CL2_TMP_EXHIGH ) /* standard or extended format? */
\r
732 cobidL = (U16)(COBID & 0x0000FFFFL);
\r
733 cobidH = (U16)((COBID & 0xFFFF0000L)>>16);
\r
734 cobidH = ((cobidH >> 8) & 0x00FF) | (((cobidH << 8) & 0xFF00));
\r
735 *ptrU16++ = cobidH;
\r
736 cobidL = ((cobidL >> 8) & 0x00FF) | (((cobidL << 8) & 0xFF00));
\r
737 *ptrU16++ = cobidL;
\r
738 *ptrU16 = (U16)CL2_EXT_FRAME;
\r
743 cobidH = (U16)(COBID & 0x0000FFFFL);
\r
744 cobidH = ((cobidH >> 8) & 0x00FF) | (((cobidH << 8) & 0xFF00));
\r
745 *ptrU16++ = cobidH;
\r
750 unican_writew((U16)cmCL2_SUBSCRIBE_RTR + CL2_COMMAND_VALID, card->commandRegister);
\r
752 } /* cl2_subscribe_rtr */
\r
755 /*******************************************************************************
\r
756 * cl2_desubscribe_rtr - desubscribe rtr frame
\r
757 * """""""""""""""""""
\r
759 * Command desubscribes RTR frame. Card will not accept RTR frames
\r
760 * with this identifier.
\r
763 * CL2_OK - command completed successfuly
\r
764 * CL2_COMMAND_BUSY - previous command not completed
\r
765 * CL2_BAD_PARAM - bad command parameter
\r
768 eCL2_RESULT cl2_desubscribe_rtr
\r
770 sCAN_CARD *card, /* Pointer to card structure */
\r
771 sCAN_MESSAGE *canMessage /* RTR frame */
\r
776 if ( unican_readw(card->commandRegister) & CL2_COMMAND_VALID )
\r
777 return CL2_COMMAND_BUSY;
\r
779 for ( i = 0; i < 10; i++ )
\r
781 if ( card->rtrSub[i] == canMessage->COB_ID )
\r
783 card->rtrSub[i] = 0xFFFFFFFFL;
\r
788 if ( i >= 10 ) return CL2_BAD_PARAM;
\r
790 unican_writew(i, card->dataPtr);
\r
791 unican_writew((U16)cmCL2_DESUBSCRIBE_RTR + CL2_COMMAND_VALID, card->commandRegister);
\r
793 } /* cl2_desubscribe_rtr */
\r
797 /*******************************************************************************
\r
798 * cl2_set_sync_cobid - set COB-ID
\r
799 * """"""""""""""""""
\r
801 * Command sets COB-ID of SYNC frame. In active SYNC mode, the SYNC
\r
802 * frame with this COB-ID is periodically sent with period defined
\r
803 * by cl2_set_sync_period command.
\r
806 * CL2_OK - command completed successfuly
\r
807 * CL2_COMMAND_BUSY - previous command not completed
\r
810 eCL2_RESULT cl2_set_sync_cobid
\r
812 sCAN_CARD *card, /* Pointer to card structure */
\r
813 U32 COBID /* COB-ID */
\r
816 U16 cobidL, cobidH;
\r
817 U16 *ptr = (U16 *)card->dataPtr;
\r
819 if ( unican_readw(card->commandRegister) & CL2_COMMAND_VALID )
\r
820 return CL2_COMMAND_BUSY;
\r
822 if ( COBID & CL2_TMP_EXHIGH ) /* standard or extended format? */
\r
825 cobidL = (U16)(COBID & 0x0000FFFFL);
\r
826 cobidH = (U16)((COBID & 0xFFFF0000L)>>16);
\r
827 cobidH = ((cobidH >> 8) & 0x00FF) | (((cobidH << 8) & 0xFF00));
\r
829 cobidL = ((cobidL >> 8) & 0x00FF) | (((cobidL << 8) & 0xFF00));
\r
831 *ptr = CL2_TMP_EX2;
\r
836 cobidH = (U16)(COBID & 0x0000FFFFL);
\r
837 cobidH = ((cobidH >> 8) & 0x00FF) | (((cobidH << 8) & 0xFF00));
\r
843 unican_writew(((U16)cmCL2_SET_COBID + CL2_COMMAND_VALID), card->commandRegister);
\r
845 } /* cl2_set_sync_cobid */
\r
848 /*******************************************************************************
\r
849 * cl2_set_sync_period - set SYNC period
\r
850 * """""""""""""""""""
\r
852 * Coomand sets the SYNC frame send period in active SYNC mode in
\r
853 * x100 us. The period range is from 0 to 0xFFFF (SYNC period can
\r
854 * be set from 100us to 6.5535s).
\r
857 * CL2_OK - command completed successfuly
\r
858 * CL2_COMMAND_BUSY - previous command not completed
\r
861 eCL2_RESULT cl2_set_sync_period
\r
863 sCAN_CARD *card, /* Pointer to card structure */
\r
864 U16 period /* period in x100 us */
\r
867 if ( unican_readw(card->commandRegister) & CL2_COMMAND_VALID )
\r
868 return CL2_COMMAND_BUSY;
\r
869 unican_writew((U16)period, card->dataPtr);
\r
870 unican_writew((U16)cmCL2_SET_SYNC_PERIOD + CL2_COMMAND_VALID, card->commandRegister);
\r
872 } /* cl2_set_sync_period */
\r
875 /*******************************************************************************
\r
876 * cl2_set_sync_window - set SYNC window
\r
877 * """""""""""""""""""
\r
879 * Command sets the SYNC window length. Only during this time period
\r
880 * after SYNC frame was send or receive the frames from the synchronous
\r
881 * send buffer can be sent.
\r
884 * CL2_OK - command completed successfuly
\r
885 * CL2_COMMAND_BUSY - previous command not completed
\r
888 eCL2_RESULT cl2_set_sync_window
\r
890 sCAN_CARD *card, /* Pointer to card structure */
\r
891 U16 window /* period in x100 us */
\r
894 if ( unican_readw(card->commandRegister) & CL2_COMMAND_VALID )
\r
895 return CL2_COMMAND_BUSY;
\r
896 unican_writew((U16)window, card->dataPtr);
\r
897 unican_writew((U16)cmCL2_SET_SYNC_WINDOW + CL2_COMMAND_VALID, card->commandRegister);
\r
899 } /* cl2_set_sync_window */
\r
902 /*******************************************************************************
\r
903 * cl2_set_bitrate - set CAN bit-rate
\r
906 * Command switches the bus bit-rate. There are some predefined
\r
907 * constants CL2_BITRATE_XXXX.
\r
910 * CL2_OK - command completed successfuly
\r
911 * CL2_COMMAND_BUSY - previous command not completed
\r
914 eCL2_RESULT cl2_set_bitrate
\r
916 sCAN_CARD *card, /* Pointer to card structure */
\r
917 U16 bitrate /* CAN bitrate */
\r
920 if ( unican_readw(card->commandRegister) & CL2_COMMAND_VALID )
\r
921 return CL2_COMMAND_BUSY;
\r
922 unican_writew(bitrate, card->dataPtr);
\r
923 unican_writew((U16)cmCL2_SET_BITRATE + CL2_COMMAND_VALID, card->commandRegister);
\r
925 } /* cl2_set_bitrate */
\r
928 /*******************************************************************************
\r
929 * cl2_bus_reset - resets CAN controller
\r
932 * Command resets CAN controller
\r
935 * CL2_OK - command completed successfuly
\r
936 * CL2_COMMAND_BUSY - previously command not completed
\r
939 eCL2_RESULT cl2_bus_reset
\r
944 if ( unican_readw(card->commandRegister) & CL2_COMMAND_VALID )
\r
945 return CL2_COMMAND_BUSY;
\r
946 unican_writew((U16)cmCL2_BUS_RESET + CL2_COMMAND_VALID, card->commandRegister);
\r
948 } /* cl2_bus_reset */
\r
951 /*******************************************************************************
\r
952 * cl2_send_sync - sends synchronous frame
\r
955 * Command stores massage in synchronous send buffer.
\r
958 * CL2_OK - command completed successfuly
\r
959 * CL2_HW_QUEUE_FULL - synchronous send buffer is full
\r
960 * CL2_BAD_PARAM - bad command parameter
\r
961 * CL2_HW_FAILURE - error in HW configuration
\r
964 eCL2_RESULT cl2_send_sync
\r
966 sCAN_CARD *card, /* pointer to card */
\r
967 sCAN_MESSAGE *message /* massage to be sent */
\r
972 U16 *ptrU16 = (U16*)card->syncTxBufPtr;
\r
977 if ( card->syncTxBufSize==0 ) return CL2_HW_FAILURE;
\r
978 if ( message->dataLength > 8 ) return CL2_BAD_PARAM;
\r
979 if ( *ptrU16 & CL2_FRAME_VALID ) return CL2_HW_QUEUE_FULL;
\r
981 cobid = message->COB_ID;
\r
982 if ( (message->dataType & CL2_EXT_FRAME) || (cobid & CL2_TMP_EXHIGH) )
\r
985 cobidL = (U16)(cobid & 0x0000FFFFL);
\r
986 cobidH = (U16)((cobid & 0xFFFF0000L)>>16);
\r
992 cobidH = (U16)(cobid & 0x0000FFFFL);
\r
995 tmpU16 = (cobidH & 0x00FF) + (cobidL & 0xFF00);
\r
996 *ptrU16++ = tmpU16;
\r
998 tmpU16 = (((U16)message->dataLength) << 12) + (cobidL & 0x00FF);
\r
999 if ( !(message->dataType & CL2_REMOTE_FRAME) ) tmpU16 |= CL2_TMP_RF;
\r
1000 if ( (message->dataType & CL2_EXT_FRAME) ||
\r
1001 (message->COB_ID & CL2_TMP_EXHIGH) )
\r
1002 tmpU16 |= CL2_TMP_EX;
\r
1003 *ptrU16++ = tmpU16;
\r
1005 for ( i = 0; i < message->dataLength; )
\r
1007 tmpU16 = (U16)message->data[i]; i++;
\r
1008 if ( i == message->dataLength )
\r
1011 tmpU16 |= ((message->timeStamp & 0x00FF)<<8);
\r
1012 *ptrU16++ = tmpU16;
\r
1016 tmpU16 |= ((U16)message->data[i]<<8); i++;
\r
1017 *ptrU16++ = tmpU16;
\r
1022 tmpU16 = (message->timeStamp>>8) & 0x00FF;
\r
1027 *ptrU16 = message->timeStamp;
\r
1030 tmpU16 = (((U16)cobidH) & 0xFF00) | CL2_MESSAGE_VALID;
\r
1031 unican_writew(tmpU16, card->syncTxBufPtr);
\r
1033 if ( (card->syncTxBufBase + card->syncTxBufSize*16) <=
\r
1034 (card->syncTxBufPtr += 16) )
\r
1036 card->syncTxBufPtr = card->syncTxBufBase;
\r
1039 } /* cl2_send_sync */
\r
1042 /*******************************************************************************
\r
1043 * cl2_send_async - sends asynchronous frame
\r
1046 * Command stores message in asynchronous send buffer.
\r
1049 * CL2_OK - command completed successfuly
\r
1050 * CL2_HW_QUEUE_FULL - asynchronous buffer full
\r
1051 * CL2_HW_FAILURE - error in HW configuration
\r
1052 * CL2_BAD_PARAM - bad command parameter
\r
1055 eCL2_RESULT cl2_send_async
\r
1057 sCAN_CARD *card, /* pointer to card */
\r
1058 sCAN_MESSAGE *message /* message to be sent */
\r
1062 U16 cobidL,cobidH;
\r
1063 U16 *ptrU16 = (U16*)card->asyncTxBufPtr;
\r
1066 int timeStamp = 0;
\r
1068 if ( card->asyncTxBufSize==0 ) return CL2_HW_FAILURE;
\r
1069 if ( message->dataLength > 8 ) return CL2_BAD_PARAM;
\r
1070 if ( *ptrU16 & CL2_FRAME_VALID ) return CL2_HW_QUEUE_FULL;
\r
1072 cobid = message->COB_ID;
\r
1073 if ( (message->dataType & CL2_EXT_FRAME) || (cobid & CL2_TMP_EXHIGH) )
\r
1074 { /* 2.0B frame */
\r
1076 cobidL = (U16)(cobid & 0x0000FFFFL);
\r
1077 cobidH = (U16)((cobid & 0xFFFF0000L)>>16);
\r
1080 { /* 2.0A frame */
\r
1083 cobidH = (U16)(cobid & 0x0000FFFFL);
\r
1086 tmpU16 = (cobidH & 0x00FF ) + (cobidL & 0xFF00);
\r
1087 *ptrU16++ = tmpU16;
\r
1089 tmpU16 = (((U16)message->dataLength) << 12) + (cobidL & 0x00FF);
\r
1090 if ( !(message->dataType & CL2_REMOTE_FRAME) ) tmpU16 |= CL2_TMP_RF;
\r
1091 if ( (message->dataType & CL2_EXT_FRAME) ||
\r
1092 (message->COB_ID & CL2_TMP_EXHIGH ) )
\r
1093 tmpU16 |= CL2_TMP_EX;
\r
1094 *ptrU16++ = tmpU16;
\r
1096 for ( i = 0; i < message->dataLength; )
\r
1098 tmpU16 = (U16)message->data[i]; i++;
\r
1099 if ( i == message->dataLength )
\r
1102 tmpU16 |= ((message->timeStamp & 0x00FF)<<8);
\r
1103 *ptrU16++ = tmpU16;
\r
1107 tmpU16 |= ((U16)message->data[i]<<8); i++;
\r
1108 *ptrU16++ = tmpU16;
\r
1113 tmpU16 = (message->timeStamp>>8) & 0x00FF;
\r
1118 *ptrU16 = message->timeStamp;
\r
1121 tmpU16 = (((U16)cobidH) & 0xFF00) | CL2_MESSAGE_VALID;
\r
1122 unican_writew(tmpU16, card->asyncTxBufPtr);
\r
1124 if ( (card->asyncTxBufBase + card->asyncTxBufSize*16) <=
\r
1125 (card->asyncTxBufPtr += 16) )
\r
1127 card->asyncTxBufPtr = card->asyncTxBufBase;
\r
1130 } /* cl2_send_async */
\r
1133 /*******************************************************************************
\r
1134 * cl2_get_status - reads card status
\r
1137 * Command reads card status register. If data in status register
\r
1138 * are valid (status valid flag is set), the value of status is read
\r
1139 * and stored in status and sCAN_CARD structure.
\r
1142 * CL2_OK - command completed successfuly
\r
1143 * CL2_NO_REQUEST - status is not valid
\r
1146 eCL2_RESULT cl2_get_status
\r
1148 sCAN_CARD *card, /* pointer to card */
\r
1149 U16 *status /* card status word */
\r
1154 ptr = (U16*)(card->baseAddressPtr + CL2_STATUS_REGISTER);
\r
1156 if ( (*status & CL2_STATUS_VALID_FLAG) )
\r
1158 *ptr = *status & ~CL2_STATUS_VALID_FLAG;
\r
1159 card->status = *status;
\r
1162 return CL2_NO_REQUEST;
\r
1163 } /* cl2_get_status */
\r
1166 /*******************************************************************************
\r
1167 * cl2_get_error - reads card error
\r
1170 * Command reads card error register. If data in error register
\r
1171 * are valid (error register valid flag is set), the value of error
\r
1172 * register is read and stored in error and sCAN_CARD structure.
\r
1175 * Cl2_OK - command completed successfuly
\r
1178 eCL2_RESULT cl2_get_error
\r
1180 sCAN_CARD *card, /* pointer to card */
\r
1181 U16 *error /* card error word */
\r
1186 ptr = (U16*)(card->baseAddressPtr + CL2_ERROR_REGISTER);
\r
1188 card->error |= *error;
\r
1191 } /* cl2_get_error */
\r
1194 /*******************************************************************************
\r
1195 * cl2_receive_data - reads received frame
\r
1196 * """"""""""""""""
\r
1198 * Command reads new messages received by a card.
\r
1201 * CL2_OK - command commpleted successfuly
\r
1202 * CL2_NO_REQUEST - there is no new message
\r
1205 eCL2_RESULT cl2_receive_data
\r
1207 sCAN_CARD *card, /* Pointer to card structure */
\r
1208 sCAN_MESSAGE *canMessage /* Message */
\r
1211 U16 *ptrU16 = (U16*)card->rxBufPtr;
\r
1215 tmpU16 = *ptrU16++;
\r
1216 if ( !(tmpU16 & CL2_MESSAGE_VALID) ) return CL2_NO_REQUEST;
\r
1217 canMessage->COB_ID = ((U32)(tmpU16 & 0xFF00 )) << 16;
\r
1218 tmpU16 = *ptrU16++;
\r
1219 canMessage->COB_ID |= ((U32)( tmpU16 & 0x00FF )) << 16;
\r
1220 canMessage->COB_ID |= (U32)( tmpU16 & 0xFF00 );
\r
1221 tmpU16 = *ptrU16++;
\r
1222 canMessage->COB_ID |= (U32)( tmpU16 & 0x00FF );
\r
1223 canMessage->dataType = (U8)(( tmpU16 & 0xFF00 ) >> 8);
\r
1225 if ( canMessage->dataType & CL2_EXT_FRAME )
\r
1226 { /* 2.0B frame */
\r
1227 canMessage->COB_ID >>= 3;
\r
1228 /* canMessage->COB_ID |= CL2_TMP_EXHIGH; */
\r
1231 { /* 2.0A frame */
\r
1232 canMessage->COB_ID >>= 21;
\r
1234 canMessage->dataLength = (U8)( (tmpU16 >> 12) & 0x000F );
\r
1235 /* if ( !(tmpU16 & CL2_TMP_RF) ) canMessage->dataType |= CL2_REMOTE_FRAME; */
\r
1236 for ( i = 0; i < canMessage->dataLength; )
\r
1238 tmpU16 = *ptrU16++;
\r
1239 canMessage->data[i++] = (U8)( tmpU16 );
\r
1240 canMessage->data[i++] = (U8)( tmpU16 >> 8 );
\r
1242 if ( canMessage->dataLength & 0x01 )
\r
1244 canMessage->timeStamp = ( (*ptrU16 & 0x00FF) | (tmpU16 & 0xFF00) );
\r
1248 canMessage->timeStamp = *ptrU16 << 8 | *ptrU16 >> 8;
\r
1250 unican_writew(0x0000, card->rxBufPtr);
\r
1252 /* increment rx-buffer pointer */
\r
1253 if ( (card->rxBufBase + card->rxBufSize*16 ) <= (card->rxBufPtr += 16) )
\r
1255 card->rxBufPtr = card->rxBufBase;
\r
1259 } /* cl2_receive_data */
\r
1262 /* **************************************************************** *
\r
1264 * **************************************************************** */
\r