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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15 Revision 1.1 2004/03/13 23:13:33 ppisa
16 Interconnected OCERA configuration options with LinCAN boardlist.c compilation.
19 12.12.2000, J.B., cl2_receive_data - time stamp for even number of bytes corr.
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20 26.8.1998 - cl2_buf_size - corrected, new function return code CL2_BAD_PARAM
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21 cl2_clr_async_buffer - corrected
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23 ===============================================================================
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27 ******************************************************************************/
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29 /* Constnt used by CL2 functions */
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30 #define CL2_TMP_RF 0x0800
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31 #define CL2_TMP_EX 0x0400
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32 #define CL2_TMP_EX2 0x0004
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33 #define CL2_TMP_EXHIGH 0x80000000L
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37 #include "anctypes.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 = *((U16*)(card->baseAddressPtr));
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109 if ( (tmpWord & 0x00FF) == 0x00AA ) isAA = TRUE;
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110 if ( (tmpWord & 0x00FF) == 0x0055 ) is55 = TRUE;
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113 return CL2_HW_FAILURE;
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114 } /* cl2_test_card */
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117 /*******************************************************************************
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118 * cl2_reset_card - reset card
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121 * Card pointed by *card gets hardware reset. This command resets
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122 * card processor, card settings are restored to their default
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126 * CL2_OK - command completed successfuly
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129 eCL2_RESULT cl2_reset_card
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131 sCAN_CARD *card /* Pointer to card structure */
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134 *((U16*)(card->baseAddressPtr + CL2_RESET_REGISTER)) = 0x0000;
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136 } /* cl2_reset_card */
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139 /*******************************************************************************
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140 * cl2_get_version - read card version
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143 * Fucntion reads a value from card version register.
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146 * CL2_OK - command completed successfuly
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149 eCL2_RESULT cl2_get_version
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151 sCAN_CARD *card, /* Pointer to card structure */
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152 U16 *version /* returns card version */
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155 *version = *((U16*)(card->baseAddressPtr + CL2_VERSION_REGISTER));
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157 } /* cl2_get_version */
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160 /*******************************************************************************
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161 * cl2_gen_interrupt - request for interrupt
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162 * """""""""""""""""
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164 * CAN card is requested to generate interrupt if there is any reason
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165 * to do it. The condition for interrupt generation is defined by
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166 * cl2_int_mode command.
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169 * CL2_OK - command completed successfuly
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172 eCL2_RESULT cl2_gen_interrupt
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174 sCAN_CARD *card /* Pointer to card structure */
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177 *((U16*)(card->baseAddressPtr + CL2_GEN_INT_REGISTER)) = 0x0000;
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179 } /* cl2_gen_interrupt */
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182 /*******************************************************************************
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183 * cl2_start_it - start inhibit time
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186 * Command starts interrupt inhibit time. If there is any reason for
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187 * interrupt geneation, the card generates interrupt after end of
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188 * specified time interval. Time interval is set by cl2_set_iit command.
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191 * CL2_OK - command completed successfuly
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194 eCL2_RESULT cl2_start_it
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196 sCAN_CARD *card /* Pointer to card structure */
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199 *((U16*)(card->baseAddressPtr + CL2_START_IT_REGISTER)) = 0x0000;
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201 } /* cl2_start_it */
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204 /*******************************************************************************
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205 * cl2_clear_interrupt - clear interrupt
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206 * """""""""""""""""""
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208 * Comand clears interrupt (IRQ) generated by a card.
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211 * CL2_OK - command completed successfuly
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214 eCL2_RESULT cl2_clear_interrupt
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216 sCAN_CARD *card /* Pointer to card structure */
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219 *((U16*)(card->baseAddressPtr + CL2_CLEAR_INT_REGISTER)) = 0x0000;
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221 } /* cl2_clear_interrupt */
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224 /*******************************************************************************
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225 * cl2_int_mode - set interrupt mode
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228 * Command controls, which event will generate interrupt. Constants
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229 * CL2_INT_XXXX are used for setting of interrupt mode.
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232 * CL2_OK - command completed successfuly
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233 * CL2_BAD_PARAM - bad command parameter
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234 * CL2_COMMAND_BUSY - previous command not completed
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237 eCL2_RESULT cl2_int_mode
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239 sCAN_CARD *card, /* Pointer to card structure */
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240 U16 mode /* Interrupt mode */
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243 if ( mode > INT_MODE_ALL ) return CL2_BAD_PARAM;
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244 if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
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245 return CL2_COMMAND_BUSY;
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246 *((U16*)card->dataPtr) = mode;
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247 *((U16*)card->commandRegister) = ((U16)cmCL2_INT_MODE + CL2_COMMAND_VALID);
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249 } /* cl2_int_mode */
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252 /*******************************************************************************
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253 * cl2_iit_mode - inhibit interrupt time mode
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256 * Command enables/disables inhibit interupt time mode.
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259 * CL2_OK - command completed successfuly
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260 * CL2_COMMAND_BUSY - previous command not completed
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263 eCL2_RESULT cl2_iit_mode
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265 sCAN_CARD *card, /* Pointer to card structure */
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266 BOOLEAN1 onoff /* IIT mode - TRUE=on, FALSE=off */
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269 if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID ) return
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271 *((U16*)card->dataPtr) = (U16)onoff;
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272 *((U16*)card->commandRegister) = ((U16)cmCL2_IIT_MODE + CL2_COMMAND_VALID);
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274 } /* cl2_iit_mode */
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277 /*******************************************************************************
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278 * cl2_sync_mode - sync mode
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281 * Command enables/disables transmission of SYNC frames.
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284 * CL2_OK - command completed successfuly
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285 * CL2_COMMAND_BUSY - previous command not completed
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288 eCL2_RESULT cl2_sync_mode
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290 sCAN_CARD *card, /* Pointer to card structure */
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291 BOOLEAN1 onoff /* Sync mode - TRUE=on, FALSE=off */
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294 if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
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295 return CL2_COMMAND_BUSY;
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296 *((U16*)card->dataPtr) = (U16)onoff;
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297 *((U16*)card->commandRegister) = ((U16)cmCL2_SYNC_MODE + CL2_COMMAND_VALID);
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299 } /* cl2_sync_mode */
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302 /*******************************************************************************
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303 * cl2_rtr_mode - rtr mode
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306 * Command enables/disables automatic transmission of RTR frames
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309 * CL2_OK - command completed successfuly
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310 * CL2_COMMAND_BUSY - previous command not completed
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313 eCL2_RESULT cl2_rtr_mode
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315 sCAN_CARD *card, /* Pointer to card structure */
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316 BOOLEAN1 onoff /* RTR mode - TRUE=on, FALSE=off */
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319 if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
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320 return CL2_COMMAND_BUSY;
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321 *((U16*)card->dataPtr) = (U16)onoff;
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322 *((U16*)card->commandRegister) = ((U16)cmCL2_RTR_MODE + CL2_COMMAND_VALID);
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324 } /* cl2_rtr_mode */
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327 /*******************************************************************************
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328 * cl2_buf_size - size of synchronous queue
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331 * Command sets the size of synchronous send buffer. The size is
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332 * in numbers of messages. Default buffer size is 32 messages.
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333 * The sum of synchronous_buffer_size and asynchronous_buffer_size
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334 * is constant and equal to 64. So, if the size od synchronous
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335 * buffer increases, the size of asynchronous buffer decreases and
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337 * NOTE: 1 message = 16 bytes
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340 * CL2_OK - command completed successfully
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341 * CL2_COMMAND_BUSY - previous command not completed
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342 * CL2_BAD_PARAM - bad command parameter (bufSize>64)
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345 eCL2_RESULT cl2_buf_size
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347 sCAN_CARD *card, /* Pointer to card structure */
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348 U16 bufSize /* Size of synchronous buffer */
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351 if ( bufSize > 64 ) return CL2_BAD_PARAM;
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352 if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
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353 return CL2_COMMAND_BUSY;
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354 *((U16*)card->dataPtr) = bufSize;
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355 *((U16*)card->commandRegister) = ((U16)cmCL2_BUF_SIZE + CL2_COMMAND_VALID);
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356 card->syncTxBufSize = bufSize;
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357 card->asyncTxBufSize = 64 - bufSize;
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358 card->syncTxBufPtr = card->syncTxBufBase;
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359 card->asyncTxBufPtr = card->asyncTxBufBase = card->syncTxBufBase+bufSize*16;
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361 } /* cl2_buf_size */
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364 /*******************************************************************************
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365 * cl2_set_iit - set value of inhibit interrupt time
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368 * Command sets value of inhibit interrupt time. If inhibit
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369 * interrupt time mode is enabled and started, generation of
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370 * interrupt (IRQ) is disabled during this time period.
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371 * Inhibit interrupt time can be set from 100 us to 6.5535 s
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374 * CL2_OK - command completed successfuly
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375 * CL2_COMMAND_BUSY - previous command not completed
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378 eCL2_RESULT cl2_set_iit
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380 sCAN_CARD *card, /* Pointer to card structure */
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381 U16 iit /* time period in x100 us */
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384 if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
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385 return CL2_COMMAND_BUSY;
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386 *((U16*)card->dataPtr) = iit;
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387 *((U16*)card->commandRegister) = ((U16)cmCL2_SET_IIT + CL2_COMMAND_VALID);
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389 } /* cl2_set_iit */
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392 /*******************************************************************************
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393 * cl2_start_firmware - start firmware
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394 * """"""""""""""""""
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396 * Command starts card firmware
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399 * CL2_OK - command completed successfuly
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400 * CL2_COMMAND_BUSY - previous command not completed
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403 eCL2_RESULT cl2_start_firmware
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405 sCAN_CARD *card /* Pointer to card structure */
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408 if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
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409 return CL2_COMMAND_BUSY;
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410 *((U16*)card->commandRegister) = ((U16)cmCL2_START_FIRMWARE +
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411 CL2_COMMAND_VALID);
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413 } /* cl2_start_firmware */
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416 /*******************************************************************************
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417 * cl2_set_rec_mode - set receive mode
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420 * Command sets card receive mode. This enable reception of standard
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421 * or extended frames according to CAN 2.0A and 2.0B specifications.
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422 * If value of mode is TRUE, card receives extended frames, if mode
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423 * is FALSE, card receives standard massage format (default).
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426 * CL2_OK - command completed successfuly
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427 * CL2_COMMAND_BUSY - previous command not completed
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430 eCL2_RESULT cl2_set_rec_mode
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432 sCAN_CARD *card, /* Pointer to card structure */
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433 BOOLEAN1 mode /* Mode - TRUE=ext, FALSE=std */
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436 if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
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437 return CL2_COMMAND_BUSY;
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438 *((U16*)card->dataPtr) = (U16)mode;
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439 *((U16*)card->commandRegister) = ((U16)cmCL2_SET_REC_MODE +
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440 CL2_COMMAND_VALID);
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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
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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 ( *(U16*)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 *((U16*)card->commandRegister) = ((U16)cmCL2_CLR_RX_BUFFER +
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466 CL2_COMMAND_VALID);
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468 } /* cl2_clr_rx_buffer */
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471 /*******************************************************************************
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472 * cl2_clr_sync_buffer - clear synchronous buffer
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473 * """""""""""""""""""
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475 * Command clears synchronous send buffer. All messages stored
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476 * in synchronous buffer will be lost.
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479 * CL2_OK - command completed successfuly
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480 * CL2_COMMAND_BUSY - previous command not completed
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483 eCL2_RESULT cl2_clr_sync_buffer
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485 sCAN_CARD *card /* Pointer to card structure */
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488 if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
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489 return CL2_COMMAND_BUSY;
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490 card->syncTxBufPtr = card->syncTxBufBase;
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491 *((U16*)card->commandRegister) = ((U16)cmCL2_CLR_SYNC_BUFFER +
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492 CL2_COMMAND_VALID);
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494 } /* cl2_clr_sync_buffer */
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497 /*******************************************************************************
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498 * cl2_clr_async_buffer - clear asynchronous buffer
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499 * """"""""""""""""""""
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501 * Command clears asynchronnous send buffer. All messages stored
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502 * in async buffer will be lost.
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505 * CL2_OK - command completed successfuly
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506 * CL2_COMMAND_BUSY - previous command not completed
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509 eCL2_RESULT cl2_clr_async_buffer
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511 sCAN_CARD *card /* Pointer to card structure */
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514 if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
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515 return CL2_COMMAND_BUSY;
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516 card->asyncTxBufPtr = card->syncTxBufBase + card->syncTxBufSize*16;
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517 *((U16*)card->commandRegister) = ((U16)cmCL2_CLR_ASYNC_BUFFER +
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518 CL2_COMMAND_VALID);
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520 } /* cl2_clr_async_buffer */
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523 /*******************************************************************************
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524 * cl2_send_time_sync - send time synchronization
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525 * """"""""""""""""""
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527 * Command forces the card to start the High Resolution Synchronization
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528 * Protocol according to the CANopen Communication profile. The SYNC
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529 * mode has to be enabled (cl2_sync_mode) otherwise this command has
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533 * CL2_OK - command completed successfuly
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534 * CL2_COMMAND_BUSY - previous command not completed
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537 eCL2_RESULT cl2_send_time_sync
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539 sCAN_CARD *card /* Pointer to card structure */
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542 if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID ) return
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544 *((U16*)card->commandRegister) = ((U16)cmCL2_SEND_TIME_SYNC +
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545 CL2_COMMAND_VALID);
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547 } /* cl2_send_time_sync */
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550 /*******************************************************************************
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551 * cl2_set_time_cobid - set time COB-ID
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552 * """"""""""""""""""
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554 * Command sets the COB-ID for high resolution synchronization
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555 * frame. The synchronization can be then made by means of
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556 * cl2_send_time_sync command.
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559 * CL2_OK - command completed successfuly
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560 * CL2_COMMAND_BUSY - previous command not completed
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563 eCL2_RESULT cl2_set_time_cobid
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565 sCAN_CARD *card, /* Pointer to card structure */
\r
566 U32 COBID /* HRS frame COB-ID */
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569 U16 cobidL, cobidH;
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570 U16 *ptr = (U16 *)card->dataPtr;
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572 if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
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573 return CL2_COMMAND_BUSY;
\r
575 if ( COBID & CL2_TMP_EXHIGH ) /* standard or extended format? */
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578 cobidL = (U16)(COBID & 0x0000FFFFL);
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579 cobidH = (U16)((COBID & 0xFFFF0000L)>>16);
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580 cobidH = ((cobidH >> 8) & 0x00FF) | (((cobidH << 8) & 0xFF00));
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582 cobidL = ((cobidL >> 8) & 0x00FF) | (((cobidL << 8) & 0xFF00));
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584 *ptr = CL2_TMP_EX2;
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589 cobidH = (U16)(COBID & 0x0000FFFFL);
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590 cobidH = ((cobidH >> 8) & 0x00FF) | (((cobidH << 8) & 0xFF00));
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596 *((U16*)card->commandRegister) = ((U16)cmCL2_SET_TIME_COBID +
\r
597 CL2_COMMAND_VALID);
\r
599 } /* cl2_set_time_cobid */
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602 /*******************************************************************************
\r
603 * cl2_set_receive_limit - set limit for receive signaling
\r
604 * """""""""""""""""""""
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606 * Command is used to set the receive limit signalized by bit
\r
607 * RL (in CL2.H CL2_X_DATA_IN_RBUF) of the Status Register.
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608 * This bit is set when more then the limit number of frames
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609 * was received since the last interrupt was generated (in interrupt
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610 * mode) or since the Status Register was last time read.
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614 * CL2_COMMAND_BUSY - previous command not completed
\r
615 * CL2_BAD_PARAM - bad command parameter
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617 eCL2_RESULT cl2_set_receive_limit
\r
619 sCAN_CARD *card, /* pointer to card structure */
\r
620 U16 limit /* limit of messages in receive buffer */
\r
623 if ( limit > 127 ) return CL2_BAD_PARAM;
\r
624 if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
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625 return CL2_COMMAND_BUSY;
\r
626 *((U16*)card->dataPtr) = limit;
\r
627 *((U16*)card->commandRegister) = ((U16)cmCL2_SET_RECEIVE_LIMIT +
\r
628 CL2_COMMAND_VALID);
\r
630 } /* cl2_set_receive_limit */
\r
633 /*******************************************************************************
\r
634 * cl2_download_rtr_list - download rtr list
\r
635 * """""""""""""""""""""
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637 * Command downloads a list of up to 64 RTR frames. These frames are
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638 * periodically transmitted by the card. The parameters, how often
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639 * frames are send and in which SYNC period is defined by period and
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640 * subperiod in sRTR_FRAME structure.
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643 * CL2_OK - command completed successfuly
\r
644 * CL2_COMMAND_BUSY - previous command not completed
\r
645 * CL2_BAD_PARAM - bad command parameter
\r
648 eCL2_RESULT cl2_download_rtr_list
\r
650 sCAN_CARD *card, /* Pointer to card structure */
\r
651 sRTR_LIST *rtrList /* RTR list */
\r
654 U16 *ptrTmp = (U16*)card->dataPtr;
\r
655 sRTR_FRAME *ptrRTR = rtrList->data;
\r
658 U16 cobidH, cobidL, i;
\r
660 if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID ) return
\r
662 if ( rtrList->nb > 64 ) return CL2_BAD_PARAM;
\r
664 *ptrTmp++ = (U16)rtrList->nb;
\r
665 for ( i = 0; i < rtrList->nb; i++ )
\r
667 if ( ptrRTR->period < ptrRTR->subperiod ) return CL2_BAD_PARAM;
\r
668 if ( ptrRTR->subperiod == 0 ) ptrRTR->subperiod = 1;
\r
669 tmpU16 = (ptrRTR->period & 0x00FF) + ((ptrRTR->subperiod & 0x00FF)<<8);
\r
670 *ptrTmp++ = tmpU16;
\r
671 COBID = ptrRTR->cob_id;
\r
673 if ( COBID & CL2_TMP_EXHIGH ) /* standard or extended format? */
\r
676 cobidL = (U16)(COBID & 0x0000FFFFL);
\r
677 cobidH = (U16)((COBID & 0xFFFF0000L)>>16);
\r
678 cobidH = ((cobidH >> 8) & 0x00FF) | (((cobidH << 8) & 0xFF00));
\r
679 *ptrTmp++ = cobidH;
\r
680 cobidL = ((cobidL >> 8) & 0x00FF) | (((cobidL << 8) & 0xFF00));
\r
681 *ptrTmp++ = cobidL;
\r
686 cobidH = (U16)(COBID & 0x0000FFFFL);
\r
687 cobidH = ((cobidH >> 8) & 0x00FF) | (((cobidH << 8) & 0xFF00));
\r
688 *ptrTmp++ = cobidH;
\r
692 *ptrTmp++ = 0x0000; /* rezerva */
\r
696 *((U16*)card->commandRegister) = ((U16)cmCL2_DOWNLOAD_RTR_LIST +
\r
697 CL2_COMMAND_VALID);
\r
699 } /* cl2_download_rtrlist */
\r
702 /*******************************************************************************
\r
703 * cl2_subscribe_rtr - subscribe RTR frame
\r
704 * """""""""""""""""
\r
706 * Command subscribes RTR frame. Incoming RTR frames which were
\r
707 * subscribed are accepted, while other are ignored. Up to 10
\r
708 * RTR frames can be subscribed.
\r
711 * CL2_OK - command completed successfuly
\r
712 * CL2_COMMAND_BUSY - previous command not completed
\r
713 * CL2_BAD_PARAM - bad command parameter
\r
716 eCL2_RESULT cl2_subscribe_rtr
\r
718 sCAN_CARD *card, /* Pointer to card structure */
\r
719 sCAN_MESSAGE *canMessage, /* RTR frame */
\r
720 U16 RTRnumber /* number of RTR */
\r
723 U16 *ptrU16 = (U16*)card->dataPtr;
\r
725 U16 cobidH, cobidL;
\r
727 if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
\r
728 return CL2_COMMAND_BUSY;
\r
729 if ( RTRnumber > 9 ) return CL2_BAD_PARAM;
\r
731 card->rtrSub[RTRnumber] = canMessage->COB_ID;
\r
732 *ptrU16 = RTRnumber;
\r
734 COBID = canMessage->COB_ID;
\r
736 if ( COBID & CL2_TMP_EXHIGH ) /* standard or extended format? */
\r
739 cobidL = (U16)(COBID & 0x0000FFFFL);
\r
740 cobidH = (U16)((COBID & 0xFFFF0000L)>>16);
\r
741 cobidH = ((cobidH >> 8) & 0x00FF) | (((cobidH << 8) & 0xFF00));
\r
742 *ptrU16++ = cobidH;
\r
743 cobidL = ((cobidL >> 8) & 0x00FF) | (((cobidL << 8) & 0xFF00));
\r
744 *ptrU16++ = cobidL;
\r
745 *ptrU16 = (U16)CL2_EXT_FRAME;
\r
750 cobidH = (U16)(COBID & 0x0000FFFFL);
\r
751 cobidH = ((cobidH >> 8) & 0x00FF) | (((cobidH << 8) & 0xFF00));
\r
752 *ptrU16++ = cobidH;
\r
757 *((U16*)card->commandRegister) = ((U16)cmCL2_SUBSCRIBE_RTR +
\r
758 CL2_COMMAND_VALID);
\r
760 } /* cl2_subscribe_rtr */
\r
763 /*******************************************************************************
\r
764 * cl2_desubscribe_rtr - desubscribe rtr frame
\r
765 * """""""""""""""""""
\r
767 * Command desubscribes RTR frame. Card will not accept RTR frames
\r
768 * with this identifier.
\r
771 * CL2_OK - command completed successfuly
\r
772 * CL2_COMMAND_BUSY - previous command not completed
\r
773 * CL2_BAD_PARAM - bad command parameter
\r
776 eCL2_RESULT cl2_desubscribe_rtr
\r
778 sCAN_CARD *card, /* Pointer to card structure */
\r
779 sCAN_MESSAGE *canMessage /* RTR frame */
\r
784 if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
\r
785 return CL2_COMMAND_BUSY;
\r
787 for ( i = 0; i < 10; i++ )
\r
789 if ( card->rtrSub[i] == canMessage->COB_ID )
\r
791 card->rtrSub[i] = 0xFFFFFFFFL;
\r
796 if ( i >= 10 ) return CL2_BAD_PARAM;
\r
798 *((U16*)card->dataPtr) = i;
\r
799 *((U16*)card->commandRegister) = ((U16)cmCL2_DESUBSCRIBE_RTR +
\r
800 CL2_COMMAND_VALID);
\r
802 } /* cl2_desubscribe_rtr */
\r
806 /*******************************************************************************
\r
807 * cl2_set_sync_cobid - set COB-ID
\r
808 * """"""""""""""""""
\r
810 * Command sets COB-ID of SYNC frame. In active SYNC mode, the SYNC
\r
811 * frame with this COB-ID is periodically sent with period defined
\r
812 * by cl2_set_sync_period command.
\r
815 * CL2_OK - command completed successfuly
\r
816 * CL2_COMMAND_BUSY - previous command not completed
\r
819 eCL2_RESULT cl2_set_sync_cobid
\r
821 sCAN_CARD *card, /* Pointer to card structure */
\r
822 U32 COBID /* COB-ID */
\r
825 U16 cobidL, cobidH;
\r
826 U16 *ptr = (U16 *)card->dataPtr;
\r
828 if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
\r
829 return CL2_COMMAND_BUSY;
\r
831 if ( COBID & CL2_TMP_EXHIGH ) /* standard or extended format? */
\r
834 cobidL = (U16)(COBID & 0x0000FFFFL);
\r
835 cobidH = (U16)((COBID & 0xFFFF0000L)>>16);
\r
836 cobidH = ((cobidH >> 8) & 0x00FF) | (((cobidH << 8) & 0xFF00));
\r
838 cobidL = ((cobidL >> 8) & 0x00FF) | (((cobidL << 8) & 0xFF00));
\r
840 *ptr = CL2_TMP_EX2;
\r
845 cobidH = (U16)(COBID & 0x0000FFFFL);
\r
846 cobidH = ((cobidH >> 8) & 0x00FF) | (((cobidH << 8) & 0xFF00));
\r
852 *((U16*)card->commandRegister) = ((U16)cmCL2_SET_COBID + CL2_COMMAND_VALID);
\r
854 } /* cl2_set_sync_cobid */
\r
857 /*******************************************************************************
\r
858 * cl2_set_sync_period - set SYNC period
\r
859 * """""""""""""""""""
\r
861 * Coomand sets the SYNC frame send period in active SYNC mode in
\r
862 * x100 us. The period range is from 0 to 0xFFFF (SYNC period can
\r
863 * be set from 100us to 6.5535s).
\r
866 * CL2_OK - command completed successfuly
\r
867 * CL2_COMMAND_BUSY - previous command not completed
\r
870 eCL2_RESULT cl2_set_sync_period
\r
872 sCAN_CARD *card, /* Pointer to card structure */
\r
873 U16 period /* period in x100 us */
\r
876 if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
\r
877 return CL2_COMMAND_BUSY;
\r
878 *((U16*)card->dataPtr) = (U16)period;
\r
879 *((U16*)card->commandRegister) = ((U16)cmCL2_SET_SYNC_PERIOD +
\r
880 CL2_COMMAND_VALID);
\r
882 } /* cl2_set_sync_period */
\r
885 /*******************************************************************************
\r
886 * cl2_set_sync_window - set SYNC window
\r
887 * """""""""""""""""""
\r
889 * Command sets the SYNC window length. Only during this time period
\r
890 * after SYNC frame was send or receive the frames from the synchronous
\r
891 * send buffer can be sent.
\r
894 * CL2_OK - command completed successfuly
\r
895 * CL2_COMMAND_BUSY - previous command not completed
\r
898 eCL2_RESULT cl2_set_sync_window
\r
900 sCAN_CARD *card, /* Pointer to card structure */
\r
901 U16 window /* period in x100 us */
\r
904 if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
\r
905 return CL2_COMMAND_BUSY;
\r
906 *((U16*)card->dataPtr) = (U16)window;
\r
907 *((U16*)card->commandRegister) = ((U16)cmCL2_SET_SYNC_WINDOW +
\r
908 CL2_COMMAND_VALID);
\r
910 } /* cl2_set_sync_window */
\r
913 /*******************************************************************************
\r
914 * cl2_set_bitrate - set CAN bit-rate
\r
917 * Command switches the bus bit-rate. There are some predefined
\r
918 * constants CL2_BITRATE_XXXX.
\r
921 * CL2_OK - command completed successfuly
\r
922 * CL2_COMMAND_BUSY - previous command not completed
\r
925 eCL2_RESULT cl2_set_bitrate
\r
927 sCAN_CARD *card, /* Pointer to card structure */
\r
928 U16 bitrate /* CAN bitrate */
\r
931 if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
\r
932 return CL2_COMMAND_BUSY;
\r
933 *((U16*)card->dataPtr) = bitrate;
\r
934 *((U16*)card->commandRegister) = ((U16)cmCL2_SET_BITRATE +
\r
935 CL2_COMMAND_VALID);
\r
937 } /* cl2_set_bitrate */
\r
940 /*******************************************************************************
\r
941 * cl2_bus_reset - resets CAN controller
\r
944 * Command resets CAN controller
\r
947 * CL2_OK - command completed successfuly
\r
948 * CL2_COMMAND_BUSY - previously command not completed
\r
951 eCL2_RESULT cl2_bus_reset
\r
956 if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
\r
957 return CL2_COMMAND_BUSY;
\r
958 *((U16*)card->commandRegister) = ((U16)cmCL2_BUS_RESET +
\r
959 CL2_COMMAND_VALID);
\r
961 } /* cl2_bus_reset */
\r
964 /*******************************************************************************
\r
965 * cl2_send_sync - sends synchronous frame
\r
968 * Command stores massage in synchronous send buffer.
\r
971 * CL2_OK - command completed successfuly
\r
972 * CL2_HW_QUEUE_FULL - synchronous send buffer is full
\r
973 * CL2_BAD_PARAM - bad command parameter
\r
974 * CL2_HW_FAILURE - error in HW configuration
\r
977 eCL2_RESULT cl2_send_sync
\r
979 sCAN_CARD *card, /* pointer to card */
\r
980 sCAN_MESSAGE *message /* massage to be sent */
\r
985 U16 *ptrU16 = (U16*)card->syncTxBufPtr;
\r
990 if ( card->syncTxBufSize==0 ) return CL2_HW_FAILURE;
\r
991 if ( message->dataLength > 8 ) return CL2_BAD_PARAM;
\r
992 if ( *ptrU16 & CL2_FRAME_VALID ) return CL2_HW_QUEUE_FULL;
\r
994 cobid = message->COB_ID;
\r
995 if ( (message->dataType & CL2_EXT_FRAME) || (cobid & CL2_TMP_EXHIGH) )
\r
998 cobidL = (U16)(cobid & 0x0000FFFFL);
\r
999 cobidH = (U16)((cobid & 0xFFFF0000L)>>16);
\r
1002 { /* 2.0A frame */
\r
1005 cobidH = (U16)(cobid & 0x0000FFFFL);
\r
1008 tmpU16 = (cobidH & 0x00FF) + (cobidL & 0xFF00);
\r
1009 *ptrU16++ = tmpU16;
\r
1011 tmpU16 = (((U16)message->dataLength) << 12) + (cobidL & 0x00FF);
\r
1012 if ( !(message->dataType & CL2_REMOTE_FRAME) ) tmpU16 |= CL2_TMP_RF;
\r
1013 if ( (message->dataType & CL2_EXT_FRAME) ||
\r
1014 (message->COB_ID & CL2_TMP_EXHIGH) )
\r
1015 tmpU16 |= CL2_TMP_EX;
\r
1016 *ptrU16++ = tmpU16;
\r
1018 for ( i = 0; i < message->dataLength; )
\r
1020 tmpU16 = (U16)message->data[i]; i++;
\r
1021 if ( i == message->dataLength )
\r
1024 tmpU16 |= ((message->timeStamp & 0x00FF)<<8);
\r
1025 *ptrU16++ = tmpU16;
\r
1029 tmpU16 |= ((U16)message->data[i]<<8); i++;
\r
1030 *ptrU16++ = tmpU16;
\r
1035 tmpU16 = (message->timeStamp>>8) & 0x00FF;
\r
1040 *ptrU16 = message->timeStamp;
\r
1043 tmpU16 = (((U16)cobidH) & 0xFF00) | CL2_MESSAGE_VALID;
\r
1044 *(U16*)card->syncTxBufPtr = tmpU16;
\r
1046 if ( (card->syncTxBufBase + card->syncTxBufSize*16) <=
\r
1047 (card->syncTxBufPtr += 16) )
\r
1049 card->syncTxBufPtr = card->syncTxBufBase;
\r
1052 } /* cl2_send_sync */
\r
1055 /*******************************************************************************
\r
1056 * cl2_send_async - sends asynchronous frame
\r
1059 * Command stores message in asynchronous send buffer.
\r
1062 * CL2_OK - command completed successfuly
\r
1063 * CL2_HW_QUEUE_FULL - asynchronous buffer full
\r
1064 * CL2_HW_FAILURE - error in HW configuration
\r
1065 * CL2_BAD_PARAM - bad command parameter
\r
1068 eCL2_RESULT cl2_send_async
\r
1070 sCAN_CARD *card, /* pointer to card */
\r
1071 sCAN_MESSAGE *message /* message to be sent */
\r
1075 U16 cobidL,cobidH;
\r
1076 U16 *ptrU16 = (U16*)card->asyncTxBufPtr;
\r
1079 int timeStamp = 0;
\r
1081 if ( card->asyncTxBufSize==0 ) return CL2_HW_FAILURE;
\r
1082 if ( message->dataLength > 8 ) return CL2_BAD_PARAM;
\r
1083 if ( *ptrU16 & CL2_FRAME_VALID ) return CL2_HW_QUEUE_FULL;
\r
1085 cobid = message->COB_ID;
\r
1086 if ( (message->dataType & CL2_EXT_FRAME) || (cobid & CL2_TMP_EXHIGH) )
\r
1087 { /* 2.0B frame */
\r
1089 cobidL = (U16)(cobid & 0x0000FFFFL);
\r
1090 cobidH = (U16)((cobid & 0xFFFF0000L)>>16);
\r
1093 { /* 2.0A frame */
\r
1096 cobidH = (U16)(cobid & 0x0000FFFFL);
\r
1099 tmpU16 = (cobidH & 0x00FF ) + (cobidL & 0xFF00);
\r
1100 *ptrU16++ = tmpU16;
\r
1102 tmpU16 = (((U16)message->dataLength) << 12) + (cobidL & 0x00FF);
\r
1103 if ( !(message->dataType & CL2_REMOTE_FRAME) ) tmpU16 |= CL2_TMP_RF;
\r
1104 if ( (message->dataType & CL2_EXT_FRAME) ||
\r
1105 (message->COB_ID & CL2_TMP_EXHIGH ) )
\r
1106 tmpU16 |= CL2_TMP_EX;
\r
1107 *ptrU16++ = tmpU16;
\r
1109 for ( i = 0; i < message->dataLength; )
\r
1111 tmpU16 = (U16)message->data[i]; i++;
\r
1112 if ( i == message->dataLength )
\r
1115 tmpU16 |= ((message->timeStamp & 0x00FF)<<8);
\r
1116 *ptrU16++ = tmpU16;
\r
1120 tmpU16 |= ((U16)message->data[i]<<8); i++;
\r
1121 *ptrU16++ = tmpU16;
\r
1126 tmpU16 = (message->timeStamp>>8) & 0x00FF;
\r
1131 *ptrU16 = message->timeStamp;
\r
1134 tmpU16 = (((U16)cobidH) & 0xFF00) | CL2_MESSAGE_VALID;
\r
1135 *(U16*)card->asyncTxBufPtr = tmpU16;
\r
1137 if ( (card->asyncTxBufBase + card->asyncTxBufSize*16) <=
\r
1138 (card->asyncTxBufPtr += 16) )
\r
1140 card->asyncTxBufPtr = card->asyncTxBufBase;
\r
1143 } /* cl2_send_async */
\r
1146 /*******************************************************************************
\r
1147 * cl2_get_status - reads card status
\r
1150 * Command reads card status register. If data in status register
\r
1151 * are valid (status valid flag is set), the value of status is read
\r
1152 * and stored in status and sCAN_CARD structure.
\r
1155 * CL2_OK - command completed successfuly
\r
1156 * CL2_NO_REQUEST - status is not valid
\r
1159 eCL2_RESULT cl2_get_status
\r
1161 sCAN_CARD *card, /* pointer to card */
\r
1162 U16 *status /* card status word */
\r
1167 ptr = (U16*)(card->baseAddressPtr + CL2_STATUS_REGISTER);
\r
1169 if ( (*status & CL2_STATUS_VALID_FLAG) )
\r
1171 *ptr = *status & ~CL2_STATUS_VALID_FLAG;
\r
1172 card->status = *status;
\r
1175 return CL2_NO_REQUEST;
\r
1176 } /* cl2_get_status */
\r
1179 /*******************************************************************************
\r
1180 * cl2_get_error - reads card error
\r
1183 * Command reads card error register. If data in error register
\r
1184 * are valid (error register valid flag is set), the value of error
\r
1185 * register is read and stored in error and sCAN_CARD structure.
\r
1188 * Cl2_OK - command completed successfuly
\r
1191 eCL2_RESULT cl2_get_error
\r
1193 sCAN_CARD *card, /* pointer to card */
\r
1194 U16 *error /* card error word */
\r
1199 ptr = (U16*)(card->baseAddressPtr + CL2_ERROR_REGISTER);
\r
1201 card->error |= *error;
\r
1204 } /* cl2_get_error */
\r
1207 /*******************************************************************************
\r
1208 * cl2_receive_data - reads received frame
\r
1209 * """"""""""""""""
\r
1211 * Command reads new messages received by a card.
\r
1214 * CL2_OK - command commpleted successfuly
\r
1215 * CL2_NO_REQUEST - there is no new message
\r
1218 eCL2_RESULT cl2_receive_data
\r
1220 sCAN_CARD *card, /* Pointer to card structure */
\r
1221 sCAN_MESSAGE *canMessage /* Message */
\r
1224 U16 *ptrU16 = (U16*)card->rxBufPtr;
\r
1228 tmpU16 = *ptrU16++;
\r
1229 if ( !(tmpU16 & CL2_MESSAGE_VALID) ) return CL2_NO_REQUEST;
\r
1230 canMessage->COB_ID = ((U32)(tmpU16 & 0xFF00 )) << 16;
\r
1231 tmpU16 = *ptrU16++;
\r
1232 canMessage->COB_ID |= ((U32)( tmpU16 & 0x00FF )) << 16;
\r
1233 canMessage->COB_ID |= (U32)( tmpU16 & 0xFF00 );
\r
1234 tmpU16 = *ptrU16++;
\r
1235 canMessage->COB_ID |= (U32)( tmpU16 & 0x00FF );
\r
1236 canMessage->dataType = (U8)(( tmpU16 & 0xFF00 ) >> 8);
\r
1238 if ( canMessage->dataType & CL2_EXT_FRAME )
\r
1239 { /* 2.0B frame */
\r
1240 canMessage->COB_ID >>= 3;
\r
1241 /* canMessage->COB_ID |= CL2_TMP_EXHIGH; */
\r
1244 { /* 2.0A frame */
\r
1245 canMessage->COB_ID >>= 21;
\r
1247 canMessage->dataLength = (U8)( (tmpU16 >> 12) & 0x000F );
\r
1248 /* if ( !(tmpU16 & CL2_TMP_RF) ) canMessage->dataType |= CL2_REMOTE_FRAME; */
\r
1249 for ( i = 0; i < canMessage->dataLength; )
\r
1251 tmpU16 = *ptrU16++;
\r
1252 canMessage->data[i++] = (U8)( tmpU16 );
\r
1253 canMessage->data[i++] = (U8)( tmpU16 >> 8 );
\r
1255 if ( canMessage->dataLength & 0x01 )
\r
1257 canMessage->timeStamp = ( (*ptrU16 & 0x00FF) | (tmpU16 & 0xFF00) );
\r
1261 canMessage->timeStamp = *ptrU16 << 8 | *ptrU16 >> 8;
\r
1263 *(U16*)card->rxBufPtr = 0x0000;
\r
1265 /* increment rx-buffer pointer */
\r
1266 if ( (card->rxBufBase + card->rxBufSize*16 ) <= (card->rxBufPtr += 16) )
\r
1268 card->rxBufPtr = card->rxBufBase;
\r
1272 } /* cl2_receive_data */
\r
1275 /* **************************************************************** *
\r
1277 * **************************************************************** */
\r