X-Git-Url: http://rtime.felk.cvut.cz/gitweb/lincan.git/blobdiff_plain/8efef967ff91e6d5b92426ffb091842d4e54145d..7e54bce7703ee2000b67eb92629c6f1d67e7d824:/lincan/src/unican_cl2.c

diff --git a/lincan/src/unican_cl2.c b/lincan/src/unican_cl2.c
index 18a78e9..b576c5e 100644
--- a/lincan/src/unican_cl2.c
+++ b/lincan/src/unican_cl2.c
@@ -11,10 +11,7 @@ FIRMA              :    CVUT FEL, Dept. of Measurement
 DULEZITE UPOZORNENI:
 
 ARCHIVACNI INFORMACE:
-$Log$
-Revision 1.1  2004/03/13 23:13:33  ppisa
-Interconnected OCERA configuration options with LinCAN boardlist.c compilation.
-
+Log: unican_cl2.c,v
 
 12.12.2000, J.B., cl2_receive_data - time stamp for even number of bytes corr.
 26.8.1998 - cl2_buf_size - corrected, new function return code CL2_BAD_PARAM
@@ -34,8 +31,11 @@ UCEL A FUNKCE:
 
 
 /* includes */
-#include "anctypes.h"
-#include "cl2.h"
+#include "../include/canmsg.h"
+#include "../include/can_sysdep.h"
+#include "../include/unican_types.h"
+#include "../include/unican_cl2.h"
+#include "linux/delay.h"
 
 
 /*******************************************************************************
@@ -105,7 +105,9 @@ eCL2_RESULT cl2_test_card
    for ( i = 0; i < 10000; i++ )
    {
      if ( isAA && is55 ) return CL2_OK;
-     tmpWord = *((U16*)(card->baseAddressPtr));
+     tmpWord = unican_readw(card->baseAddressPtr);
+     /*printk("cl2_test_card: %08lx %04x\n", (long)card->baseAddressPtr, tmpWord);*/
+     udelay(100);
      if ( (tmpWord & 0x00FF) == 0x00AA ) isAA = TRUE;
      if ( (tmpWord & 0x00FF) == 0x0055 ) is55 = TRUE;
    }
@@ -131,7 +133,7 @@ eCL2_RESULT cl2_reset_card
    sCAN_CARD *card           /* Pointer to card structure */
    )
    {
-   *((U16*)(card->baseAddressPtr + CL2_RESET_REGISTER)) = 0x0000;
+   unican_writew(0x0000, card->baseAddressPtr + CL2_RESET_REGISTER);
    return CL2_OK;
    } /* cl2_reset_card */
 
@@ -152,7 +154,7 @@ eCL2_RESULT cl2_get_version
    U16 *version                /* returns card version */
    )
    {
-   *version = *((U16*)(card->baseAddressPtr + CL2_VERSION_REGISTER));
+   *version = unican_readw(card->baseAddressPtr + CL2_VERSION_REGISTER);
    return CL2_OK;
    } /* cl2_get_version */
 
@@ -174,7 +176,7 @@ eCL2_RESULT cl2_gen_interrupt
    sCAN_CARD *card           /* Pointer to card structure */
    )
    {
-   *((U16*)(card->baseAddressPtr + CL2_GEN_INT_REGISTER)) = 0x0000;
+   unican_writew(0x0000, card->baseAddressPtr + CL2_GEN_INT_REGISTER);
    return CL2_OK;
    } /* cl2_gen_interrupt */
 
@@ -196,7 +198,7 @@ eCL2_RESULT cl2_start_it
    sCAN_CARD *card           /* Pointer to card structure */
    )
    {
-   *((U16*)(card->baseAddressPtr + CL2_START_IT_REGISTER)) = 0x0000;
+   unican_writew(0x0000, card->baseAddressPtr + CL2_START_IT_REGISTER);
    return CL2_OK;
    } /* cl2_start_it */
 
@@ -216,7 +218,7 @@ eCL2_RESULT cl2_clear_interrupt
    sCAN_CARD *card           /* Pointer to card structure */
    )
    {
-   *((U16*)(card->baseAddressPtr + CL2_CLEAR_INT_REGISTER)) = 0x0000;
+   unican_writew(0x0000, card->baseAddressPtr + CL2_CLEAR_INT_REGISTER);
    return CL2_OK;
    } /* cl2_clear_interrupt */
 
@@ -241,10 +243,10 @@ eCL2_RESULT cl2_int_mode
    )
    {
    if ( mode > INT_MODE_ALL ) return CL2_BAD_PARAM;
-   if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
+   if ( unican_readw(card->commandRegister) & CL2_COMMAND_VALID )
       return CL2_COMMAND_BUSY;
-   *((U16*)card->dataPtr) = mode;
-   *((U16*)card->commandRegister) = ((U16)cmCL2_INT_MODE + CL2_COMMAND_VALID);
+   unican_writew(mode, card->dataPtr);
+   unican_writew(((U16)cmCL2_INT_MODE + CL2_COMMAND_VALID), card->commandRegister);
    return CL2_OK;
    } /* cl2_int_mode */
 
@@ -266,10 +268,10 @@ eCL2_RESULT cl2_iit_mode
    BOOLEAN1 onoff              /* IIT mode - TRUE=on, FALSE=off */
    )
    {
-   if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID ) return
+   if ( unican_readw(card->commandRegister) & CL2_COMMAND_VALID ) return
       CL2_COMMAND_BUSY;
-   *((U16*)card->dataPtr) = (U16)onoff;
-   *((U16*)card->commandRegister) = ((U16)cmCL2_IIT_MODE + CL2_COMMAND_VALID);
+   unican_writew((U16)onoff, card->dataPtr);
+   unican_writew(((U16)cmCL2_IIT_MODE + CL2_COMMAND_VALID), card->commandRegister);
    return CL2_OK;
    } /* cl2_iit_mode */
 
@@ -291,10 +293,10 @@ eCL2_RESULT cl2_sync_mode
    BOOLEAN1 onoff              /* Sync mode - TRUE=on, FALSE=off */
    )
    {
-   if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
+   if ( unican_readw(card->commandRegister) & CL2_COMMAND_VALID )
       return CL2_COMMAND_BUSY;
-   *((U16*)card->dataPtr) = (U16)onoff;
-   *((U16*)card->commandRegister) = ((U16)cmCL2_SYNC_MODE + CL2_COMMAND_VALID);
+   unican_writew((U16)onoff, card->dataPtr);
+   unican_writew(((U16)cmCL2_SYNC_MODE + CL2_COMMAND_VALID), card->commandRegister);
    return CL2_OK;
    } /* cl2_sync_mode */
 
@@ -316,10 +318,10 @@ eCL2_RESULT cl2_rtr_mode
    BOOLEAN1 onoff              /* RTR mode - TRUE=on, FALSE=off */
    )
    {
-   if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
+   if ( unican_readw(card->commandRegister) & CL2_COMMAND_VALID )
       return CL2_COMMAND_BUSY;
-   *((U16*)card->dataPtr) = (U16)onoff;
-   *((U16*)card->commandRegister) = ((U16)cmCL2_RTR_MODE + CL2_COMMAND_VALID);
+   unican_writew((U16)onoff, card->dataPtr);
+   unican_writew(((U16)cmCL2_RTR_MODE + CL2_COMMAND_VALID), card->commandRegister);
    return CL2_OK;
    } /* cl2_rtr_mode */
 
@@ -349,10 +351,10 @@ eCL2_RESULT cl2_buf_size
    )
    {
    if ( bufSize > 64 ) return CL2_BAD_PARAM;
-   if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
+   if ( unican_readw(card->commandRegister) & CL2_COMMAND_VALID )
       return CL2_COMMAND_BUSY;
-   *((U16*)card->dataPtr) = bufSize;
-   *((U16*)card->commandRegister) = ((U16)cmCL2_BUF_SIZE + CL2_COMMAND_VALID);
+   unican_writew(bufSize, card->dataPtr);
+   unican_writew(((U16)cmCL2_BUF_SIZE + CL2_COMMAND_VALID), card->commandRegister);
    card->syncTxBufSize = bufSize;
    card->asyncTxBufSize = 64 - bufSize;
    card->syncTxBufPtr = card->syncTxBufBase;
@@ -381,10 +383,10 @@ eCL2_RESULT cl2_set_iit
    U16 iit                     /* time period in x100 us */
    )
    {
-   if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
+   if ( unican_readw(card->commandRegister) & CL2_COMMAND_VALID )
       return CL2_COMMAND_BUSY;
-   *((U16*)card->dataPtr) = iit;
-   *((U16*)card->commandRegister) = ((U16)cmCL2_SET_IIT + CL2_COMMAND_VALID);
+   unican_writew(iit, card->dataPtr);
+   unican_writew(((U16)cmCL2_SET_IIT + CL2_COMMAND_VALID), card->commandRegister);
    return CL2_OK;
    } /* cl2_set_iit */
 
@@ -405,10 +407,9 @@ eCL2_RESULT cl2_start_firmware
    sCAN_CARD *card            /* Pointer to card structure */
    )
    {
-   if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
+   if ( unican_readw(card->commandRegister) & CL2_COMMAND_VALID )
       return CL2_COMMAND_BUSY;
-   *((U16*)card->commandRegister) = ((U16)cmCL2_START_FIRMWARE +
-                                    CL2_COMMAND_VALID);
+   unican_writew((U16)cmCL2_START_FIRMWARE + CL2_COMMAND_VALID, card->commandRegister);
    return CL2_OK;
    } /* cl2_start_firmware */
 
@@ -433,11 +434,10 @@ eCL2_RESULT cl2_set_rec_mode
    BOOLEAN1 mode              /* Mode - TRUE=ext, FALSE=std */
    )
    {
-   if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
+   if ( unican_readw(card->commandRegister) & CL2_COMMAND_VALID )
       return CL2_COMMAND_BUSY;
-   *((U16*)card->dataPtr) = (U16)mode;
-   *((U16*)card->commandRegister) = ((U16)cmCL2_SET_REC_MODE +
-                                    CL2_COMMAND_VALID);
+   unican_writew((U16)mode, card->dataPtr);
+   unican_writew((U16)cmCL2_SET_REC_MODE + CL2_COMMAND_VALID, card->commandRegister);
    return CL2_OK;
    } /* cl2_set_rec_mode */
 
@@ -459,11 +459,10 @@ eCL2_RESULT cl2_clr_rx_buffer
    sCAN_CARD *card           /* Pointer to card structure */
    )
    {
-   if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
+   if ( unican_readw(card->commandRegister) & CL2_COMMAND_VALID )
       return CL2_COMMAND_BUSY;
    card->rxBufPtr = card->rxBufBase;
-   *((U16*)card->commandRegister) = ((U16)cmCL2_CLR_RX_BUFFER +
-                                     CL2_COMMAND_VALID);
+   unican_writew((U16)cmCL2_CLR_RX_BUFFER + CL2_COMMAND_VALID, card->commandRegister);
    return CL2_OK;
    } /* cl2_clr_rx_buffer */
 
@@ -485,11 +484,10 @@ eCL2_RESULT cl2_clr_sync_buffer
    sCAN_CARD *card            /* Pointer to card structure */
    )
    {
-   if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
+   if ( unican_readw(card->commandRegister) & CL2_COMMAND_VALID )
       return CL2_COMMAND_BUSY;
    card->syncTxBufPtr = card->syncTxBufBase;
-   *((U16*)card->commandRegister) = ((U16)cmCL2_CLR_SYNC_BUFFER +
-                                    CL2_COMMAND_VALID);
+   unican_writew((U16)cmCL2_CLR_SYNC_BUFFER + CL2_COMMAND_VALID, card->commandRegister);
    return CL2_OK;
    } /* cl2_clr_sync_buffer */
 
@@ -511,11 +509,10 @@ eCL2_RESULT cl2_clr_async_buffer
    sCAN_CARD *card            /* Pointer to card structure */
    )
    {
-   if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
+   if ( unican_readw(card->commandRegister) & CL2_COMMAND_VALID )
       return CL2_COMMAND_BUSY;
    card->asyncTxBufPtr = card->syncTxBufBase + card->syncTxBufSize*16;
-   *((U16*)card->commandRegister) = ((U16)cmCL2_CLR_ASYNC_BUFFER +
-                                    CL2_COMMAND_VALID);
+   unican_writew((U16)cmCL2_CLR_ASYNC_BUFFER + CL2_COMMAND_VALID, card->commandRegister);
    return CL2_OK;
    } /* cl2_clr_async_buffer */
 
@@ -539,10 +536,9 @@ eCL2_RESULT cl2_send_time_sync
    sCAN_CARD *card             /* Pointer to card structure */
    )
    {
-   if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID ) return
-      CL2_COMMAND_BUSY;
-   *((U16*)card->commandRegister) = ((U16)cmCL2_SEND_TIME_SYNC +
-                                    CL2_COMMAND_VALID);
+   if ( unican_readw(card->commandRegister) & CL2_COMMAND_VALID )
+      return CL2_COMMAND_BUSY;
+   unican_writew((U16)cmCL2_SEND_TIME_SYNC + CL2_COMMAND_VALID, card->commandRegister);
    return CL2_OK;
    } /* cl2_send_time_sync */
 
@@ -569,7 +565,7 @@ eCL2_RESULT cl2_set_time_cobid
    U16 cobidL, cobidH;
    U16 *ptr = (U16 *)card->dataPtr;
 
-   if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
+   if ( unican_readw(card->commandRegister) & CL2_COMMAND_VALID )
       return CL2_COMMAND_BUSY;
 
    if ( COBID & CL2_TMP_EXHIGH ) /* standard or extended format? */
@@ -593,8 +589,7 @@ eCL2_RESULT cl2_set_time_cobid
      *ptr = 0;
    }
 
-   *((U16*)card->commandRegister) = ((U16)cmCL2_SET_TIME_COBID +
-                                     CL2_COMMAND_VALID);
+   unican_writew((U16)cmCL2_SET_TIME_COBID + CL2_COMMAND_VALID, card->commandRegister);
    return CL2_OK;
    } /* cl2_set_time_cobid */
 
@@ -621,11 +616,10 @@ eCL2_RESULT cl2_set_receive_limit
    )
    {
    if ( limit > 127 ) return CL2_BAD_PARAM;
-   if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
+   if ( unican_readw(card->commandRegister) & CL2_COMMAND_VALID )
       return CL2_COMMAND_BUSY;
-   *((U16*)card->dataPtr) = limit;
-   *((U16*)card->commandRegister) = ((U16)cmCL2_SET_RECEIVE_LIMIT +
-                                    CL2_COMMAND_VALID);
+   unican_writew(limit, card->dataPtr);
+   unican_writew((U16)cmCL2_SET_RECEIVE_LIMIT + CL2_COMMAND_VALID, card->commandRegister);
    return CL2_OK;
    } /* cl2_set_receive_limit */
 
@@ -657,7 +651,7 @@ eCL2_RESULT cl2_download_rtr_list
    U32 COBID;
    U16 cobidH, cobidL, i;
 
-   if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID ) return
+   if ( unican_readw(card->commandRegister) & CL2_COMMAND_VALID ) return
       CL2_COMMAND_BUSY;
    if ( rtrList->nb > 64 ) return CL2_BAD_PARAM;
 
@@ -693,8 +687,7 @@ eCL2_RESULT cl2_download_rtr_list
    ptrRTR++;
    }
 
-   *((U16*)card->commandRegister) = ((U16)cmCL2_DOWNLOAD_RTR_LIST +
-                                     CL2_COMMAND_VALID);
+   unican_writew((U16)cmCL2_DOWNLOAD_RTR_LIST + CL2_COMMAND_VALID, card->commandRegister);
    return CL2_OK;
    } /* cl2_download_rtrlist */
 
@@ -724,7 +717,7 @@ eCL2_RESULT cl2_subscribe_rtr
    U32 COBID;
    U16 cobidH, cobidL;
 
-   if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
+   if ( unican_readw(card->commandRegister) & CL2_COMMAND_VALID )
       return CL2_COMMAND_BUSY;
    if ( RTRnumber > 9 ) return CL2_BAD_PARAM;
 
@@ -754,8 +747,7 @@ eCL2_RESULT cl2_subscribe_rtr
      *ptrU16 = 0;
    }
 
-   *((U16*)card->commandRegister) = ((U16)cmCL2_SUBSCRIBE_RTR +
-                                    CL2_COMMAND_VALID);
+   unican_writew((U16)cmCL2_SUBSCRIBE_RTR + CL2_COMMAND_VALID, card->commandRegister);
    return CL2_OK;
    } /* cl2_subscribe_rtr */
 
@@ -781,7 +773,7 @@ eCL2_RESULT cl2_desubscribe_rtr
    {
    U16 i;
 
-   if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
+   if ( unican_readw(card->commandRegister) & CL2_COMMAND_VALID )
       return CL2_COMMAND_BUSY;
 
    for ( i = 0; i < 10; i++ )
@@ -795,9 +787,8 @@ eCL2_RESULT cl2_desubscribe_rtr
 
    if ( i >= 10 ) return CL2_BAD_PARAM;
 
-   *((U16*)card->dataPtr) = i;
-   *((U16*)card->commandRegister) = ((U16)cmCL2_DESUBSCRIBE_RTR +
-                                    CL2_COMMAND_VALID);
+   unican_writew(i, card->dataPtr);
+   unican_writew((U16)cmCL2_DESUBSCRIBE_RTR + CL2_COMMAND_VALID, card->commandRegister);
    return CL2_OK;
    } /* cl2_desubscribe_rtr */
 
@@ -825,7 +816,7 @@ eCL2_RESULT cl2_set_sync_cobid
    U16 cobidL, cobidH;
    U16 *ptr = (U16 *)card->dataPtr;
 
-   if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
+   if ( unican_readw(card->commandRegister) & CL2_COMMAND_VALID )
       return CL2_COMMAND_BUSY;
 
    if ( COBID & CL2_TMP_EXHIGH ) /* standard or extended format? */
@@ -849,7 +840,7 @@ eCL2_RESULT cl2_set_sync_cobid
      *ptr = 0;
    }
 
-   *((U16*)card->commandRegister) = ((U16)cmCL2_SET_COBID + CL2_COMMAND_VALID);
+   unican_writew(((U16)cmCL2_SET_COBID + CL2_COMMAND_VALID), card->commandRegister);
    return CL2_OK;
    } /* cl2_set_sync_cobid */
 
@@ -873,11 +864,10 @@ eCL2_RESULT cl2_set_sync_period
    U16 period                  /* period in x100 us */
    )
    {
-   if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
+   if ( unican_readw(card->commandRegister) & CL2_COMMAND_VALID )
       return CL2_COMMAND_BUSY;
-   *((U16*)card->dataPtr) = (U16)period;
-   *((U16*)card->commandRegister) = ((U16)cmCL2_SET_SYNC_PERIOD +
-                                    CL2_COMMAND_VALID);
+   unican_writew((U16)period, card->dataPtr);
+   unican_writew((U16)cmCL2_SET_SYNC_PERIOD + CL2_COMMAND_VALID, card->commandRegister);
    return CL2_OK;
    } /* cl2_set_sync_period */
 
@@ -901,11 +891,10 @@ eCL2_RESULT cl2_set_sync_window
    U16 window                  /* period in x100 us */
    )
    {
-   if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
+   if ( unican_readw(card->commandRegister) & CL2_COMMAND_VALID )
       return CL2_COMMAND_BUSY;
-   *((U16*)card->dataPtr) = (U16)window;
-   *((U16*)card->commandRegister) = ((U16)cmCL2_SET_SYNC_WINDOW +
-                                    CL2_COMMAND_VALID);
+   unican_writew((U16)window, card->dataPtr);
+   unican_writew((U16)cmCL2_SET_SYNC_WINDOW + CL2_COMMAND_VALID, card->commandRegister);
    return CL2_OK;
    } /* cl2_set_sync_window */
 
@@ -928,11 +917,10 @@ eCL2_RESULT cl2_set_bitrate
    U16 bitrate                 /* CAN bitrate */
    )
    {
-   if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
+   if ( unican_readw(card->commandRegister) & CL2_COMMAND_VALID )
       return CL2_COMMAND_BUSY;
-   *((U16*)card->dataPtr) = bitrate;
-   *((U16*)card->commandRegister) = ((U16)cmCL2_SET_BITRATE +
-                                    CL2_COMMAND_VALID);
+   unican_writew(bitrate, card->dataPtr);
+   unican_writew((U16)cmCL2_SET_BITRATE + CL2_COMMAND_VALID, card->commandRegister);
    return CL2_OK;
    } /* cl2_set_bitrate */
 
@@ -953,10 +941,9 @@ eCL2_RESULT cl2_bus_reset
    sCAN_CARD *card
    )
    {
-   if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )
+   if ( unican_readw(card->commandRegister) & CL2_COMMAND_VALID )
       return CL2_COMMAND_BUSY;
-   *((U16*)card->commandRegister) = ((U16)cmCL2_BUS_RESET +
-                                    CL2_COMMAND_VALID);
+   unican_writew((U16)cmCL2_BUS_RESET + CL2_COMMAND_VALID, card->commandRegister);
    return CL2_OK;
    } /* cl2_bus_reset */
 
@@ -1041,7 +1028,7 @@ eCL2_RESULT cl2_send_sync
       }
 
    tmpU16 = (((U16)cobidH) & 0xFF00) | CL2_MESSAGE_VALID;
-   *(U16*)card->syncTxBufPtr = tmpU16;
+   unican_writew(tmpU16, card->syncTxBufPtr);
 
    if ( (card->syncTxBufBase + card->syncTxBufSize*16) <=
         (card->syncTxBufPtr += 16) )
@@ -1132,7 +1119,7 @@ eCL2_RESULT cl2_send_async
       }
 
    tmpU16 = (((U16)cobidH) & 0xFF00) | CL2_MESSAGE_VALID;
-   *(U16*)card->asyncTxBufPtr = tmpU16;
+   unican_writew(tmpU16, card->asyncTxBufPtr);
 
    if ( (card->asyncTxBufBase + card->asyncTxBufSize*16) <=
         (card->asyncTxBufPtr += 16) )
@@ -1260,7 +1247,7 @@ eCL2_RESULT cl2_receive_data
       {
       canMessage->timeStamp = *ptrU16 << 8 | *ptrU16 >> 8;
       }
-   *(U16*)card->rxBufPtr = 0x0000;
+   unican_writew(0x0000, card->rxBufPtr);
 
    /* increment rx-buffer pointer */
    if ( (card->rxBufBase + card->rxBufSize*16 ) <= (card->rxBufPtr += 16) )