--- /dev/null
+/******************************************************************************
+
+Cl2.H - PCAN and VCAN cards hardware access library
+""""""""
+ (C) Copyright 1997 Unicontrols a.s.
+
+PROJEKT : CANopen
+AUTOR : F.Spurny
+FIRMA : CVUT FEL, Dept. of Measurement
+PORTING : Adapted for LinCAN driver by Pavel Pisa, OCERA team member
+
+DULEZITE UPOZORNENI:
+
+ARCHIVACNI INFORMACE:
+$Log$
+Revision 1.1 2004/03/13 23:13:31 ppisa
+Interconnected OCERA configuration options with LinCAN boardlist.c compilation.
+
+
+27.1.1999 - corected value of CL2_ERROR_WARNING and CL2_ERROR_BUS_OFF constants
+
+12.12.2000 - CL2_STATUS_RESET_CARD, CL2_ERROR_RESET_CARD added
+ fields of sCAN_MESSAGE aligned
+
+10.8.2001 - PCI PCAN ID registers content defined
+ - cl2_find_card function prototype added
+ - cl2_get_ID function prototype added
+
+10.2.2004 - Start of PCAN support porting to RT-Linux and Linux environment
+
+===============================================================================
+
+UCEL A FUNKCE:
+
+******************************************************************************/
+
+#ifndef __INC_CL2_H
+#define __INC_CL2_H
+
+
+/****** includes ******/
+
+#ifndef __INC_ANCTYPES_H
+#include "anctypes.h"
+#endif
+
+/****** Definitions of constants ******/
+
+/* PCI card Configuration Space Constants */
+#define PCANDeviceID 0x0101
+#define PCANVendorID 0xFA3C
+#define PCANSubsystemID 0x0001
+#define PCANSubsystemVendorID 0x7A52
+
+
+/* Description of card and card registers location. Registers location are
+ * mapped relative to card base address (BA) */
+
+#define CL2_RAM_SIZE 0x1000 /* size of dual-port RAM */
+#define CL2_RX_BUFFER_DEFAULT 0x800 /* off(BA->rx buffer) */
+#define CL2_SYNC_BUFFER_DEFAULT 0x400 /* off(BA->sync buffer) */
+#define CL2_ASYNC_BUFFER_DEFAULT 0x600 /* off(BA->async buffer) */
+#define CL2_COMMAND_REGISTER 0x3FE /* off(BA->command register )*/
+#define CL2_VERSION_REGISTER 0x3F6 /* off(BA->version register )*/
+#define CL2_ID_REGISTER 0x3EE /* off(BA->ID register) */
+#define CL2_GEN_INT_REGISTER 0x3E4 /* off(BA->generate interrupt reg.)*/
+#define CL2_CLEAR_INT_REGISTER 0x3E2 /* off(BA->clear interrupt reg)*/
+#define CL2_RESET_REGISTER 0x3E0 /* off(BA->reset register)*/
+#define CL2_ERROR_REGISTER 0x3F8 /* off(BA->error register)*/
+#define CL2_TIME_REGISTER 0x3FC /* currently not used */
+#define CL2_START_IT_REGISTER 0x3E6 /* off(BA->start inhibit time reg.) */
+#define CL2_STATUS_REGISTER 0x3FA /* off(BA->status register)*/
+#define CL2_VME_INT_VECTOR 0x3F0
+#define CL2_DATA_BUFFER 0x100 /* off(BA->data buffer)*/
+
+/* Default sizes of buffers (in messages)
+ * FYI: 1 message needs 16 bytes to be stored */
+#define CL2_RX_BUFFER_SIZE 128 /* size of receive (rx) buffer */
+#define CL2_TX_SYNC_BUFFER_SIZE 32 /* size of synchronnous buffer */
+#define CL2_TX_ASYNC_BUFFER_SIZE 32 /* size of asynchronnous buffer*/
+
+/* Command valid flag */
+#define CL2_COMMAND_VALID 0x0080
+
+/* Message flags */
+#define CL2_MESSAGE_VALID 0x0001
+
+/* status bits */
+#define CL2_DATA_IN_RBUF 0x0001 /* message is in rx buffer*/
+#define CL2_X_DATA_IN_RBUF 0x0002 /* more than LIMIT messages are in
+ * rx buffer*/
+#define CL2_RBUF_OVERFLOW 0x0004 /* owerflow of rx buffer, some
+ * messages are lost*/
+#define CL2_SYNC_QUEUE_EMPTY 0x0010 /* sync queue is empty */
+#define CL2_ASYNC_QUEUE_EMPTY 0x0020 /* async queue is empty */
+#define CL2_CARD_ERROR 0x0040 /* card reports an error */
+#define CL2_STATUS_VALID_FLAG 0x0080 /* bit indicating that status
+ * register contains valid data*/
+#define CL2_CARD_READY 0x0100 /* card is ready */
+#define CL2_SYNC_PASSIVE 0x0200 /* passive SYNC mode */
+#define CL2_SYNC_ACTIVE 0x0400 /* active SYNC mode */
+#define CL2_RTR_LIST 0x0800 /* RTR list sending */
+#define CL2_STATUS_RESET_CARD 0x8000 /* card reset occurred */
+
+/* error bits */
+#define CL2_ERROR_LL 0x0007 /* */
+#define CL2_ERROR_WARNING 0x0040 /* bus warning detected */
+#define CL2_ERROR_BUS_OFF 0x0080 /* bus error detected */
+#define CL2_ERROR_RESET_CARD 0x0100 /* card reset occurred */\r
+#define CL2_ERROR_FIRMWARE 0x1000 /* firmware error detected */
+#define CL2_ERROR_DPRAM 0x2000 /* dual port RAM error detected */
+#define CL2_ERROR_RAM 0x4000 /* internal RAM error detected */
+#define CL2_ERROR_CAN 0x8000 /* CAN controller error detected */
+
+/* interrupt generation */
+#define INT_MODE_RX 0x01 /* if data are in receive buffer*/
+#define INT_MODE_ERROR 0x02 /* if any error occurs */
+#define INT_MODE_SYNC_EMPTY 0x04 /* if tx sync. queue is empty*/
+#define INT_MODE_ASYNC_EMPTY 0x08 /* if tx async. queue is empty*/
+#define INT_MODE_ALL 0x0F /* if any event occurs*/
+
+/* CAN message types */
+#define CL2_REMOTE_FRAME 0x08 /* frame is a remote frame*/
+#define CL2_LINE_FLAG 0x80
+#define CL2_EXT_FRAME 0x04 /* frame is extended format*/
+
+/* Receive message flags */
+#define CL2_FRAME_VALID 0x01 /* message in buffer is valid */
+#define CL2_RX_OVERFLOW 0x02 /* stored unread message was
+ * overwritten by another one */
+
+/* Bitrates */
+#define CL2_BITRATE_5K 0x7f7f /* bit-rate 5 kb/s */
+#define CL2_BITRATE_10K 0x5c67 /* bit-rate 10 kb/s */
+#define CL2_BITRATE_20K 0x5c53 /* bit-rate 20 kb/s */
+#define CL2_BITRATE_50K 0x5c47 /* bit-rate 50 kb/s */
+#define CL2_BITRATE_100K 0x5c43 /* bit-rate 100 kb/s */
+#define CL2_BITRATE_125K 0x6743 /* bit-rate 125 kb/s */
+#define CL2_BITRATE_200K 0x5c41 /* bit-rate 200 kb/s */
+#define CL2_BITRATE_250K 0x6741 /* bit-rate 250 kb/s */
+#define CL2_BITRATE_500K 0x6740 /* bit-rate 500 kb/s */
+#define CL2_BITRATE_800K 0x3440 /* bit-rate 800 kb/s */
+#define CL2_BITRATE_1M 0x2340 /* bit-rate 1 Mb/s */
+
+
+/****** Definition of structures ******/
+
+typedef struct /*** card definition structure ***/
+ {
+ U16 intNumber; /* Card interrupt (IRQ) number */
+ U8 *baseAddressPtr; /* Pointer to card base address (BA) */
+ U8 *rxBufPtr; /* Pointer to receive buffer */
+ U8 *rxBufBase; /* Pointer to empty receive buffer */
+ U8 *asyncTxBufPtr; /* Pointer to async transmit buffer */
+ U8 *asyncTxBufBase; /* Pointer to empty async. transmit buffer */
+ U8 *syncTxBufPtr; /* Pointer to sync. transmit buffer */
+ U8 *syncTxBufBase; /* Pointer to empty sync. transmit buffer */
+ U8 *commandRegister; /* Pointer to command register */
+ U8 *dataPtr; /* Pointer to command data buffer */
+ U16 rxBufSize; /* size of receive buffer (x16 bytes) */
+ U16 syncTxBufSize; /* size of sync. transmit buffer (x16 bytes)*/
+ U16 asyncTxBufSize; /* size of async. transmit buffer (x 16 bytes)*/
+ U16 status; /* last card status */
+ U16 error; /* last not reported card error */
+ U32 rtrSub[10];
+ } sCAN_CARD;
+
+//typedef struct /*** CAN message formet ***/
+// {
+// U8 data[8]; /* Data message buffer (8 bytes) */
+// U8 dataLength; /* Data length (in bytes) */
+// U32 COB_ID; /* COB_ID */
+// U16 timeStamp; /* Message time stamp */
+// U8 dataType; /* Message data type */
+// } sCAN_MESSAGE;
+
+typedef struct
+ {
+ U32 COB_ID; /* COB identifier */
+ U8 dataType; /* Message data type */
+ U8 dataLength; /* Data length (in bytes) */
+ U8 data[8]; /* Data message buffer (8 bytes) */
+ U16 timeStamp; /* Message time stamp [us] */
+ } sCAN_MESSAGE;
+
+
+typedef struct /*** Remote Request RTR frame ***/
+ {
+ U32 cob_id; /* RTR frame ID */
+ U16 period; /* RTR period */
+ U16 subperiod; /* RTR subperiod */
+ } sRTR_FRAME;
+
+typedef struct /*** Remote Request (RTR) list ***/
+ {
+ sRTR_FRAME *data; /* RTR data */
+ U32 nb; /* Number of RTR definitions */
+ } sRTR_LIST;
+
+typedef enum /*** CL2 functions return codes ***/
+ {
+ CL2_OK = 0, /* OK */
+ CL2_NO_REQUEST, /* No request*/
+ CL2_HW_FAILURE, /* HW failure */
+ CL2_HW_QUEUE_FULL, /* Transmit queue full */
+ CL2_BAD_PARAM, /* Bad number of parameters */
+ CL2_HW_QUEUE_EMPTY, /* Receive queue empty */
+ CL2_COMMAND_BUSY, /* Command busy - previous command not completed */
+ CL2_UNKNOWN_COMMAND, /* Unknown command */
+ CL2_NO_PCI_BIOS /* missing PCI BIOS support */
+ } eCL2_RESULT;
+
+typedef enum /*** CL2 commands ***/
+ {
+ cmCL2_INT_MODE = 0x01, /**01 - Set Interrupt mode */
+ cmCL2_IIT_MODE, /**02 - Inhibit Interrupt Time mode */
+ cmCL2_SYNC_MODE, /**03 - SYNC mode */
+ cmCL2_RTR_MODE, /**04 - RTR list mode */
+ cmCL2_BUF_SIZE, /**05 - Set buffers sizes */
+ cmCL2_SET_IIT, /**06 - Start Inhibit Interrupt Time */
+ cmCL2_START_FIRMWARE, /**07 - Start firmware */
+ cmCL2_LOAD_FIRMWARE, /* 08 - Load firmware */
+ cmCL2_SET_REC_MODE, /**09 - Set Receive mode */
+
+ cmCL2_CLR_RX_BUFFER = 0x10, /**10 - Clear receive buffer */
+ cmCL2_CLR_SYNC_BUFFER, /**11 - Clear synchronous buffer */
+ cmCL2_CLR_ASYNC_BUFFER, /**12 - Clear asynchronous buffer */
+ cmCL2_SEND_TIME_SYNC, /**13 - Sends time synchronization */
+ cmCL2_SET_TIME_COBID, /**14 - Sets time frames COB-ID */
+ cmCL2_SET_RECEIVE_LIMIT, /* 15 - Sets receive limit */
+
+ cmCL2_DOWNLOAD_RTR_LIST = 0x20, /**20 - Download RTR list */
+ cmCL2_SUBSCRIBE_RTR, /**21 - Subscribe RTR */
+ cmCL2_DESUBSCRIBE_RTR, /* 22 - Desubscribe RTR */
+
+ cmCL2_SET_COBID = 0x30, /**30 - Set COB-ID */
+ cmCL2_SET_SYNC_PERIOD, /**31 - Set SYNC period */
+ cmCL2_SET_SYNC_WINDOW, /**32 - Set SYNC period window */
+
+ cmCL2_SET_BITRATE = 0x40, /**40 - Set CAN bit rate */
+ cmCL2_BUS_RESET /* 41 - CAN controller reset */
+
+ } eCLU2_COMMAND;
+
+
+/****** prototypes ******/
+
+
+/*******************************************************************************
+* cl2_find_card - find PCIPCAN card
+* """""""""""""
+*
+* Searches for PCIPCAN cards in the system. The mapping (memory and interrupt)
+* of the card is found. An index parameter specifies how many PCIPCAN cards have
+* to be skipped in search.
+*
+* RETURNS:
+* CL2_OK - card found and mapped under 1 MB
+* CL2_HW_FAILURE - card not found or not mapped under 1 MB
+*/
+eCL2_RESULT cl2_find_card
+ (
+ U16 *baseAddress, /* card's physical base address */
+ U16 *intNumber, /* card's interrupt level */
+ U16 index /* number of PCIPCAN cards to be skipped */
+ );
+
+
+/*******************************************************************************
+* cl2_init_card - initialize card to default parameters
+* """""""""""""
+*
+* Command installs card. The data in sCAN_CARD structure pointed
+* by *card are initialized to their predefined default values.
+* Command must be called before any operation with sCAN_CARD
+* structure.
+*
+* RETURNS:
+* CL2_OK - command completed succesfuly
+*
+*/
+eCL2_RESULT cl2_init_card
+ (
+ sCAN_CARD *card, /* Pointer to card structure */
+ void *baseAddress, /* Card base address pointer */
+ U16 intNumber /* Card interrupt number */
+ );
+
+
+/*******************************************************************************
+* cl2_test_card - test card
+* """""""""""""
+*
+* Test whether the card is installed in system and working properly
+* or not. If this function fails (return value is CL2_HW_FAILURE)
+* check if the card is present and card base address.
+*
+* RETURNS:
+* CL2_OK - card is present and working properly
+* CL2_HW_FAILURE - card not found or card error
+*
+*/
+eCL2_RESULT cl2_test_card
+ (
+ sCAN_CARD *card /* Pointer to card structure */
+ );
+
+
+/*******************************************************************************
+* cl2_reset_card - reset card
+* """"""""""""""
+*
+* Card pointed by *card gets hardware reset. This command resets
+* card processor, card settings are restored to their default
+* values.
+*
+* RETURNS:
+* CL2_OK - command completed successfuly
+*
+*/
+eCL2_RESULT cl2_reset_card
+ (
+ sCAN_CARD *card /* Pointer to card structure */
+ );
+
+
+/*******************************************************************************
+* cl2_get_version - read card version
+* """""""""""""""
+*
+* Fucntion reads a value from card version register.
+*
+* RETURNS:
+* CL2_OK - command completed successfuly
+*
+*/
+eCL2_RESULT cl2_get_version
+ (
+ sCAN_CARD *card, /* Pointer to card structure */
+ U16 *version /* returns card version */
+ );
+
+
+/*******************************************************************************
+* cl2_get_ID - read card ID
+* """""""""""""""
+*
+* Fucntion reads a value from card ID register.
+*
+* RETURNS:
+* CL2_OK - command completed successfuly
+*
+*/
+eCL2_RESULT cl2_get_ID
+ (
+ sCAN_CARD *card, /* Pointer to card structure */
+ U32 *IDlow,
+ U32 *IDhigh /* returns card version */
+ );
+
+
+/*******************************************************************************
+* cl2_gen_interrupt - request for interrupt
+* """""""""""""""""
+*
+* CAN card is requested to generate interrupt if there is any reason
+* to do it. The condition for interrupt generation is defined by
+* cl2_int_mode command.
+*
+* RETURNS:
+* CL2_OK - command completed successfuly
+*
+*/
+eCL2_RESULT cl2_gen_interrupt
+ (
+ sCAN_CARD *card /* Pointer to card structure */
+ );
+
+
+/*******************************************************************************
+* cl2_start_it - start inhibit time
+* """"""""""""
+*
+* Command starts interrupt inhibit time. If there is any reason for
+* interrupt geneation, the card generates interrupt after end of
+* specified time interval. Time interval is set by cl2_set_iit command.
+*
+* RETURNS:
+* CL2_OK - command completed successfuly
+*
+*/
+eCL2_RESULT cl2_start_it
+ (
+ sCAN_CARD *card /* Pointer to card structure */
+ );
+
+
+/*******************************************************************************
+* cl2_clear_interrupt - clear interrupt
+* """""""""""""""""""
+*
+* Comand clears interrupt (IRQ) generated by a card.
+*
+* RETURNS:
+* CL2_OK - command completed successfuly
+*
+*/
+eCL2_RESULT cl2_clear_interrupt
+ (
+ sCAN_CARD *card /* Pointer to card structure */
+ );
+
+
+/*******************************************************************************
+* cl2_int_mode - set interrupt mode
+* """"""""""""
+*
+* Command controls, which event will generate interrupt. Constants
+* CL2_INT_XXXX are used for setting of interrupt mode.
+*
+* RETURNS:
+* CL2_OK - command completed successfuly
+* CL2_BAD_PARAM - bad command parameter
+* CL2_COMMAND_BUSY - previous command not completed
+*
+*/
+eCL2_RESULT cl2_int_mode
+ (
+ sCAN_CARD *card, /* Pointer to card structure */
+ U16 mode /* Interrupt mode */
+ );
+
+
+/*******************************************************************************
+* cl2_iit_mode - inhibit interrupt time mode
+* """"""""""""
+*
+* Command enables/disables inhibit interupt time mode.
+*
+* RETURNS:
+* CL2_OK - command completed successfuly
+* CL2_COMMAND_BUSY - previous command not completed
+*
+*/
+eCL2_RESULT cl2_iit_mode
+ (
+ sCAN_CARD *card, /* Pointer to card structure */
+ BOOLEAN1 onoff /* IIT mode - TRUE=on, FALSE=off */
+ );
+
+
+/*******************************************************************************
+* cl2_sync_mode - sync mode
+* """""""""""""
+*
+* Command enables/disables transmission of SYNC frames.
+*
+* RETURNS:
+* CL2_OK - command completed successfuly
+* CL2_COMMAND_BUSY - previous command not completed
+*
+*/
+eCL2_RESULT cl2_sync_mode
+ (
+ sCAN_CARD *card, /* Pointer to card structure */
+ BOOLEAN1 onoff /* Sync mode - TRUE=on, FALSE=off */
+ );
+
+
+/*******************************************************************************
+* cl2_rtr_mode - rtr mode
+* """"""""""""
+*
+* Command enables/disables automatic transmission of RTR frames
+*
+* RETURNS:
+* CL2_OK - command completed successfuly
+* CL2_COMMAND_BUSY - previous command not completed
+*
+*/
+eCL2_RESULT cl2_rtr_mode
+ (
+ sCAN_CARD *card, /* Pointer to card structure */
+ BOOLEAN1 onoff /* RTR mode - TRUE=on, FALSE=off */
+ );
+
+
+/*******************************************************************************
+* cl2_buf_size - size of synchronous queue
+* """"""""""""
+*
+* Command sets the size of synchronous send buffer. The size is
+* in numbers of messages. Default buffer size is 32 messages.
+* The sum of synchronous_buffer_size and asynchronous_buffer_size
+* is constant and equal to 64. So, if the size od synchronous
+* buffer increases, the size of asynchronous buffer decreases and
+* vice versa.
+* NOTE: 1 message = 16 bytes
+*
+* RETURNS:
+* CL2_OK - command completed successfully
+* CL2_COMMAND_BUSY - previous command not completed
+* CL2_BAD_PARAM - bad command parameter (bufSize>64)
+*
+*/
+eCL2_RESULT cl2_buf_size
+ (
+ sCAN_CARD *card, /* Pointer to card structure */
+ U16 bufSize /* Size of synchronous buffer */
+ );
+
+
+/*******************************************************************************
+* cl2_set_iit - set value of inhibit interrupt time
+* """""""""""
+*
+* Command sets value of inhibit interrupt time. If inhibit
+* interrupt time mode is enabled and started, generation of
+* interrupt (IRQ) is disabled during this time period.
+* Inhibit interrupt time can be set from 100 us to 6.5535 s
+*
+* RETURNS:
+* CL2_OK - command completed successfuly
+* CL2_COMMAND_BUSY - previous command not completed
+*
+*/
+eCL2_RESULT cl2_set_iit
+ (
+ sCAN_CARD *card, /* Pointer to card structure */
+ U16 iit /* time period in x100 us */
+ );
+
+
+/*******************************************************************************
+* cl2_start_firmware - start firmware
+* """"""""""""""""""
+*
+* Command starts card firmware
+*
+* RETURNS:
+* CL2_OK - command completed successfuly
+* CL2_COMMAND_BUSY - previous command not completed
+*
+*/
+eCL2_RESULT cl2_start_firmware
+ (
+ sCAN_CARD *card /* Pointer to card structure */
+ );
+
+
+/*******************************************************************************
+* cl2_set_rec_mode - set receive mode
+* """"""""""""""""
+*
+* Command sets card receive mode. This enable reception of standard
+* or extended frames according to CAN 2.0A and 2.0B specifications.
+* If value of mode is TRUE, card receives extended frames, if mode
+* is FALSE, card receives standard massage format (default).
+*
+* RETURNS:
+* CL2_OK - command completed successfuly
+* CL2_COMMAND_BUSY - previous command not completed
+*
+*/
+eCL2_RESULT cl2_set_rec_mode
+ (
+ sCAN_CARD *card, /* Pointer to card structure */
+ BOOLEAN1 mode /* Mode - TRUE=ext, FALSE=std */
+ );
+
+
+/*******************************************************************************
+* cl2_clr_rx_buffer - clear RX buffer
+* """""""""""""""""
+*
+* Command clears receive (rx) buffer. All messages stored in
+* rx buffer will be lost.
+*
+* RETURNS:
+* CL2_OK - command completed successfuly
+* CL2_COMMAND_BUSY - previous command not completed
+*
+*/
+eCL2_RESULT cl2_clr_rx_buffer
+ (
+ sCAN_CARD *card /* Pointer to card structure */
+ );
+
+
+/*******************************************************************************
+* cl2_clr_sync_buffer - clear synchronous buffer
+* """""""""""""""""""
+*
+* Command clears synchronous send buffer. All messages stored
+* in synchronous buffer will be lost.
+*
+* RETURNS:
+* CL2_OK - command completed successfuly
+* CL2_COMMAND_BUSY - previous command not completed
+*
+*/
+eCL2_RESULT cl2_clr_sync_buffer
+ (
+ sCAN_CARD *card /* Pointer to card structure */
+ );
+
+
+/*******************************************************************************
+* cl2_clr_async_buffer - clear asynchronous buffer
+* """"""""""""""""""""
+*
+* Command clears asynchronnous send buffer. All messages stored
+* in async buffer will be lost.
+*
+* RETURNS:
+* CL2_OK - command completed successfuly
+* CL2_COMMAND_BUSY - previous command not completed
+*
+*/
+eCL2_RESULT cl2_clr_async_buffer
+ (
+ sCAN_CARD *card /* Pointer to card structure */
+ );
+
+
+/*******************************************************************************
+* cl2_send_time_sync - send time synchronization
+* """"""""""""""""""
+*
+* Command forces the card to start the High Resolution Synchronization
+* Protocol according to the CANopen Communication profile. The SYNC
+* mode has to be enabled (cl2_sync_mode) otherwise this command has
+* no effect.
+*
+* RETURNS:
+* CL2_OK - command completed successfuly
+* CL2_COMMAND_BUSY - previous command not completed
+*
+*/
+eCL2_RESULT cl2_send_time_sync
+ (
+ sCAN_CARD *card /* Pointer to card structure */
+ );
+
+
+/*******************************************************************************
+* cl2_set_time_cobid - set time COB-ID
+* """"""""""""""""""
+*
+* Command sets the COB-ID for high resolution synchronization
+* frame. The synchronization can be then made by means of
+* cl2_send_time_sync command.
+*
+* RETURNS:
+* CL2_OK - command completed successfuly
+* CL2_COMMAND_BUSY - previous command not completed
+*
+*/
+eCL2_RESULT cl2_set_time_cobid
+ (
+ sCAN_CARD *card, /* Pointer to card structure */
+ U32 COBID /* HRS frame COB-ID */
+ );
+
+
+/*******************************************************************************
+* cl2_set_receive_limit - set limit for receive signaling
+* """""""""""""""""""""
+*
+* Command is used to set the receive limit signalized by bit
+* RL (in CL2.H CL2_X_DATA_IN_RBUF) of the Status Register.
+* This bit is set when more then the limit number of frames
+* was received since the last interrupt was generated (in interrupt
+* mode) or since the Status Register was last time read.
+*
+* RETURNS:
+* CL2_OK
+* CL2_COMMAND_BUSY - previous command not completed
+* CL2_BAD_PARAM - bad command parameter
+*/
+eCL2_RESULT cl2_set_receive_limit
+ (
+ sCAN_CARD *card, /* pointer to card structure */
+ U16 limit /* limit of messages in receive buffer */
+ );
+
+
+/*******************************************************************************
+* cl2_download_rtr_list - download rtr list
+* """""""""""""""""""""
+*
+* Command downloads a list of up to 64 RTR frames. These frames are
+* periodically transmitted by the card. The parameters, how often
+* frames are send and in which SYNC period is defined by period and
+* subperiod in sRTR_FRAME structure.
+*
+* RETURNS:
+* CL2_OK - command completed successfuly
+* CL2_COMMAND_BUSY - previous command not completed
+* CL2_BAD_PARAM - bad command parameter
+*
+*/
+eCL2_RESULT cl2_download_rtr_list
+ (
+ sCAN_CARD *card, /* Pointer to card structure */
+ sRTR_LIST *rtrList /* RTR list */
+ );
+
+
+/*******************************************************************************
+* cl2_subscribe_rtr - subscribe RTR frame
+* """""""""""""""""
+*
+* Command subscribes RTR frame. Incoming RTR frames which were
+* subscribed are accepted, while other are ignored. Up to 10
+* RTR frames can be subscribed.
+*
+* RETURNS:
+* CL2_OK - command completed successfuly
+* CL2_COMMAND_BUSY - previous command not completed
+* CL2_BAD_PARAM - bad command parameter
+*
+*/
+eCL2_RESULT cl2_subscribe_rtr
+ (
+ sCAN_CARD *card, /* Pointer to card structure */
+ sCAN_MESSAGE *canMessage, /* RTR frame */
+ U16 RTRnumber /* number of RTR */
+ );
+
+
+/*******************************************************************************
+* cl2_desubscribe_rtr - desubscribe rtr frame
+* """""""""""""""""""
+*
+* Command desubscribes RTR frame. Card will not accept RTR frames
+* with this identifier.
+*
+* RETURNS:
+* CL2_OK - command completed successfuly
+* CL2_COMMAND_BUSY - previous command not completed
+* CL2_BAD_PARAM - bad command parameter
+*
+*/
+eCL2_RESULT cl2_desubscribe_rtr
+ (
+ sCAN_CARD *card, /* Pointer to card structure */
+ sCAN_MESSAGE *canMessage /* RTR frame */
+ );
+
+
+/*******************************************************************************
+* cl2_set_sync_cobid - set COB-ID
+* """"""""""""""""""
+*
+* Command sets COB-ID of SYNC frame. In active SYNC mode, the SYNC
+* frame with this COB-ID is periodically sent with period defined
+* by cl2_set_sync_period command.
+*
+* RETURNS:
+* CL2_OK - command completed successfuly
+* CL2_COMMAND_BUSY - previous command not completed
+*
+*/
+eCL2_RESULT cl2_set_sync_cobid
+ (
+ sCAN_CARD *card, /* Pointer to card structure */
+ U32 COBID /* COB-ID */
+ );
+
+
+/*******************************************************************************
+* cl2_set_sync_period - set SYNC period
+* """""""""""""""""""
+*
+* Coomand sets the SYNC frame send period in active SYNC mode in
+* x100 us. The period range is from 0 to 0xFFFF (SYNC period can
+* be set from 100us to 6.5535s).
+*
+* RETURNS:
+* CL2_OK - command completed successfuly
+* CL2_COMMAND_BUSY - previous command not completed
+*
+*/
+eCL2_RESULT cl2_set_sync_period
+ (
+ sCAN_CARD *card, /* Pointer to card structure */
+ U16 period /* period in x100 us */
+ );
+
+
+/*******************************************************************************
+* cl2_set_sync_window - set SYNC window
+* """""""""""""""""""
+*
+* Command sets the SYNC window length. Only during this time period
+* after SYNC frame was send or receive the frames from the synchronous
+* send buffer can be sent.
+*
+* RETURNS:
+* CL2_OK - command completed successfuly
+* CL2_COMMAND_BUSY - previous command not completed
+*
+*/
+eCL2_RESULT cl2_set_sync_window
+ (
+ sCAN_CARD *card, /* Pointer to card structure */
+ U16 window /* period in x100 us */
+ );
+
+
+/*******************************************************************************
+* cl2_set_bitrate - set CAN bit-rate
+* """""""""""""""
+*
+* Command switches the bus bit-rate. There are some predefined
+* constants CL2_BITRATE_XXXX.
+*
+* RETURNS:
+* CL2_OK - command completed successfuly
+* CL2_COMMAND_BUSY - previous command not completed
+*
+*/
+eCL2_RESULT cl2_set_bitrate
+ (
+ sCAN_CARD *card, /* Pointer to card structure */
+ U16 bitrate /* CAN bitrate */
+ );
+
+
+/*******************************************************************************
+* cl2_bus_reset - resets CAN controller
+* """""""""""""
+*
+* Command resets CAN controller
+*
+* RETURNS:
+* CL2_OK - command completed successfuly
+* CL2_COMMAND_BUSY - previously command not completed
+*
+*/
+eCL2_RESULT cl2_bus_reset
+ (
+ sCAN_CARD *card /* Pointer to card structure */
+ );
+
+
+/*******************************************************************************
+* cl2_send_sync - sends synchronous frame
+* """""""""""""
+*
+* Command stores massage in synchronous send buffer.
+*
+* RETURNS:
+* CL2_OK - command completed successfuly
+* CL2_HW_QUEUE_FULL - synchronous send buffer is full
+* CL2_BAD_PARAM - bad command parameter
+* CL2_HW_FAILURE - error in HW configuration
+*
+*/
+eCL2_RESULT cl2_send_sync
+ (
+ sCAN_CARD *card, /* Pointer to card structure */
+ sCAN_MESSAGE *message /* message to be sent */
+ );
+
+
+/*******************************************************************************
+* cl2_send_async - sends asynchronous frame
+* """"""""""""""
+*
+* Command stores message in asynchronous send buffer.
+*
+* RETURNS:
+* CL2_OK - command completed successfuly
+* CL2_HW_QUEUE_FULL - asynchronous buffer full
+* CL2_HW_FAILURE - error in HW configuration
+* CL2_BAD_PARAM - bad command parameter
+*
+*/
+eCL2_RESULT cl2_send_async
+ (
+ sCAN_CARD *card, /* Pointer to card structure */
+ sCAN_MESSAGE *message /* message */
+ );
+
+
+/*******************************************************************************
+* cl2_get_status - reads card status
+* """"""""""""""
+*
+* Command reads card status register. If data in status register
+* are valid (status valid flag is set), the value of status is read
+* and stored in status and sCAN_CARD structure.
+*
+* RETURNS:
+* CL2_OK - command completed successfuly
+* CL2_NO_REQUEST - status is not valid
+*
+*/
+eCL2_RESULT cl2_get_status
+ (
+ sCAN_CARD *card, /* Pointer to card structure */
+ U16 *status /* Returned status */
+ );
+
+
+/*******************************************************************************
+* cl2_get_error - reads card error
+* """""""""""""
+*
+* Command reads card error register. If data in error register
+* are valid (error register valid flag is set), the value of error
+* register is read and stored in error and sCAN_CARD structure.
+*
+* RETURNS:
+* Cl2_OK - command completed successfuly
+*
+*/
+eCL2_RESULT cl2_get_error
+ (
+ sCAN_CARD *card, /* Pointer to card structure */
+ U16 *error /* Returned card error code */
+ );
+
+
+/*******************************************************************************
+* cl2_receive_data - reads received frame
+* """"""""""""""""
+*
+* Command reads new messages received by a card.
+*
+* RETURNS:
+* CL2_OK - command commpleted successfuly
+* CL2_NO_REQUEST - there is no new message
+*
+*/
+eCL2_RESULT cl2_receive_data
+ (
+ sCAN_CARD *card, /* Pointer to card structure */
+ sCAN_MESSAGE *canMessage /* Message */
+ );
+
+
+/* *********************************************************************** *
+ * END OF CL2.H *
+ * *********************************************************************** */
+
+#endif /* ifndef __INC_CL2_H */
-default_CONFIG = CONFIG_OC_LINCAN=y CONFIG_OC_LINCANRTL=y
+lincan_cards_NAMES = pip pccan smartcan nsi cc_can104 \
+ pc_i03 pcm3680 aim104 m437 pcccan ssv \
+ bfadcan pikronisa kv_pcican msmcan unican virtual template
+
+default_CONFIG = CONFIG_OC_LINCAN=y CONFIG_OC_LINCANRTL=n
+default_CONFIG += CONFIG_OC_LINCAN_PORTIO_ONLY=n CONFIG_OC_LINCAN_MEMIO_ONLY=n
+default_CONFIG += $(foreach n, $(lincan_cards_NAMES), CONFIG_OC_LINCAN_CARD_$(n)=y)
+
+
+lincan_cards_SELECTED = $(filter %.y, $(foreach x, $(lincan_cards_NAMES), $(x).$(CONFIG_OC_LINCAN_CARD_$(x))))
+lincan_cards_SELECTED := $(lincan_cards_SELECTED:%.y=%)
+
+
+LOCAL_CONFIG_H = lincan_config.h
ifeq ($(CONFIG_OC_LINCAN),y)
-rtlinux_INCLUDES = -I $(srcdir)/../include
-kernel_INCLUDES = -I $(srcdir)/../include
+rtlinux_INCLUDES = -I $(srcdir)/../include -I .
+kernel_INCLUDES = -I $(srcdir)/../include -I .
#kernel_INCLUDES += -DCAN_DEBUG
kernel_INCLUDES += -DWITH_DEVFS_FS
+lincan_cards_SOURCES = $(lincan_cards_SELECTED:%=%.c)
+
+ifneq ($(CONFIG_OC_LINCANRTL),y)
+
kernel_MODULES = lincan
-#rtlinux_MODULES = lincan
+else #CONFIG_OC_LINCANRTL
-lincan_cards_SOURCES = pip.c pccan.c smartcan.c nsi.c cc_can104.c \
- pc_i03.c pcm3680.c aim104.c m437.c pcccan.c ssv.c \
- bfadcan.c pikronisa.c kv_pcican.c msmcan.c virtual.c template.c
+rtlinux_MODULES = lincan
-ifeq ($(CONFIG_OC_LINCANRTL),y)
rtlinux_INCLUDES += -DCAN_WITH_RTL
lincan_rtl_SOURCES = open_rtl.c close_rtl.c read_rtl.c write_rtl.c ioctl_rtl.c
endif #CONFIG_OC_LINCANRTL
install : install_this_module
-.supported_cards.h: Makefile
- echo >.supported_cards.h
+lincan_config.h: Makefile
+ echo >lincan_config.h
$(foreach card, $(SUPPORTED_CARDS), \
- echo \#define ENABLE_CARD_$(card) 1 >>.supported_cards.h ;)
+ echo \#define CONFIG_OC_LINCAN_CARD_$(card) 1 >>lincan_config.h ;)
-make_this_module: .supported_cards.h
+make_this_module: lincan_config.h
echo Linux kernel version $(KERNEL_VERSION)
echo Linux kernel sources $(KERNEL_LOCATION)
echo Module target $(obj-m)
clean:
rm -f $(M_OBJS) $(MX_OBJS) $(O_OBJS) $(OX_OBJS) $(obj-m) \
- .*.o.flags .*.o.cmd .*.ko.cmd .depend .supported_cards.h *~ \
+ .*.o.flags .*.o.cmd .*.ko.cmd .depend lincan_config.h *~ \
$(obj-m:%.o=%.mod.o) $(FINAL_MODULE_OBJS) ../$(FINAL_MODULE_OBJS)
distclean: clean
#include "../include/can_sysdep.h"
#include "../include/main.h"
-#include "supported_cards.h"
+#include "lincan_config.h"
extern int template_register(struct hwspecops_t *hwspecops);
extern int pip5_register(struct hwspecops_t *hwspecops);
extern int virtual_register(struct hwspecops_t *hwspecops);
const struct boardtype_t can_boardtypes[]={
- #ifdef ENABLE_CARD_template
+ #ifdef CONFIG_OC_LINCAN_CARD_template
{"template", template_register, 1},
#endif
- #ifdef ENABLE_CARD_template
+ #ifdef CONFIG_OC_LINCAN_CARD_template
{"virtual", virtual_register, 0},
#endif
- #ifdef ENABLE_CARD_pip
+ #ifdef CONFIG_OC_LINCAN_CARD_pip
{"pip5", pip5_register, 1},
{"pip6", pip6_register, 1},
#endif
- #ifdef ENABLE_CARD_smartcan
+ #ifdef CONFIG_OC_LINCAN_CARD_smartcan
{"smartcan", smartcan_register, 1},
#endif
- #ifdef ENABLE_CARD_nsi
+ #ifdef CONFIG_OC_LINCAN_CARD_nsi
{"nsican", nsi_register, 1},
#endif
- #ifdef ENABLE_CARD_cc_can104
+ #ifdef CONFIG_OC_LINCAN_CARD_cc_can104
{"cc104", cc104_register, 1},
#endif
- #ifdef ENABLE_CARD_aim104
+ #ifdef CONFIG_OC_LINCAN_CARD_aim104
{"aim104", aim104_register, 1},
#endif
- #ifdef ENABLE_CARD_pc_i03
+ #ifdef CONFIG_OC_LINCAN_CARD_pc_i03
{"pc-i03", pci03_register, 1},
#endif
- #ifdef ENABLE_CARD_pcm3680
+ #ifdef CONFIG_OC_LINCAN_CARD_pcm3680
{"pcm3680", pcm3680_register, 2},
#endif
- #ifdef ENABLE_CARD_pccan
+ #ifdef CONFIG_OC_LINCAN_CARD_pccan
{"pccan-f", pccanf_register, 1},
{"pccan-s", pccanf_register, 1},
{"pccan-d", pccand_register, 2},
{"pccan-q", pccanq_register, 4},
#endif
- #if defined(ENABLE_CARD_kv_pcican)&&defined(CAN_ENABLE_PCI_SUPPORT)
+ #if defined(CONFIG_OC_LINCAN_CARD_kv_pcican)&&defined(CAN_ENABLE_PCI_SUPPORT)
{"pcican-s", kv_pcican_register, 0},
{"pcican-d", kv_pcican_register, 0},
{"pcican-q", kv_pcican_register, 0},
#endif
- #ifdef ENABLE_CARD_m437
+ #ifdef CONFIG_OC_LINCAN_CARD_m437
{"m437", m437_register, 1},
#endif
- #ifdef ENABLE_CARD_pcccan
+ #ifdef CONFIG_OC_LINCAN_CARD_pcccan
{"pcccan", pcccan_register, 1},
#endif
- #ifdef ENABLE_CARD_ssv
+ #ifdef CONFIG_OC_LINCAN_CARD_ssv
{"ssv", ssv_register, 2},
#endif
- #ifdef ENABLE_CARD_bfadcan
+ #ifdef CONFIG_OC_LINCAN_CARD_bfadcan
{"bfadcan", bfadcan_register, 1},
#endif
- #ifdef ENABLE_CARD_pikronisa
+ #ifdef CONFIG_OC_LINCAN_CARD_pikronisa
{"pikronisa", pikronisa_register, 1},
#endif
- #ifdef ENABLE_CARD_msmcan
+ #ifdef CONFIG_OC_LINCAN_CARD_msmcan
{"msmcan", msmcan_register, 1},
#endif
{NULL}
+++ /dev/null
-
-#define ENABLE_CARD_pip 1
-#define ENABLE_CARD_pccan 1
-#define ENABLE_CARD_smartcan 1
-#define ENABLE_CARD_nsi 1
-#define ENABLE_CARD_cc_can104 1
-#define ENABLE_CARD_pc_i03 1
-#define ENABLE_CARD_pcm3680 1
-#define ENABLE_CARD_aim104 1
-#define ENABLE_CARD_m437 1
-#define ENABLE_CARD_pcccan 1
-#define ENABLE_CARD_ssv 1
-#define ENABLE_CARD_bfadcan 1
-#define ENABLE_CARD_pikronisa 1
-#define ENABLE_CARD_msmcan 1
-#define ENABLE_CARD_kv_pcican 1
-#define ENABLE_CARD_virtual 1
-#define ENABLE_CARD_template 1
--- /dev/null
+/******************************************************************************\r
+\r
+Cl2.C - PCAN and VCAN cards hardware access library\r
+"""""\r
+ (C) Copyright 1997 Unicontrols a.s.\r
+\r
+PROJEKT : CANopen\r
+AUTOR : F.Spurny\r
+FIRMA : CVUT FEL, Dept. of Measurement\r
+\r
+DULEZITE UPOZORNENI:\r
+\r
+ARCHIVACNI INFORMACE:\r
+$Log$
+Revision 1.1 2004/03/13 23:13:33 ppisa
+Interconnected OCERA configuration options with LinCAN boardlist.c compilation.
+\r
+\r
+12.12.2000, J.B., cl2_receive_data - time stamp for even number of bytes corr.\r
+26.8.1998 - cl2_buf_size - corrected, new function return code CL2_BAD_PARAM\r
+ cl2_clr_async_buffer - corrected\r
+\r
+===============================================================================\r
+\r
+UCEL A FUNKCE:\r
+\r
+******************************************************************************/\r
+\r
+/* Constnt used by CL2 functions */\r
+#define CL2_TMP_RF 0x0800\r
+#define CL2_TMP_EX 0x0400\r
+#define CL2_TMP_EX2 0x0004\r
+#define CL2_TMP_EXHIGH 0x80000000L\r
+\r
+\r
+/* includes */\r
+#include "anctypes.h"\r
+#include "cl2.h"\r
+\r
+\r
+/*******************************************************************************\r
+* cl2_init_card - initialize card to default parameters\r
+* """""""""""""\r
+*\r
+* Command installs card. The data in sCAN_CARD structure pointed\r
+* by *card are initialized to their predefined default values.\r
+* Command must be called before any operation with sCAN_CARD\r
+* structure.\r
+*\r
+* RETURNS:\r
+* CL2_OK - command completed succesfuly\r
+*\r
+*/\r
+eCL2_RESULT cl2_init_card\r
+ (\r
+ sCAN_CARD *card, /* Pointer to card structure */\r
+ void *baseAddress, /* Card base address pointer */\r
+ U16 intNumber /* Card interrupt number */\r
+ )\r
+ {\r
+ int i;\r
+\r
+ card->intNumber = intNumber;\r
+ card->baseAddressPtr = (U8*)baseAddress;\r
+ card->rxBufBase = card->baseAddressPtr + CL2_RX_BUFFER_DEFAULT;\r
+ card->asyncTxBufBase = card->baseAddressPtr + CL2_ASYNC_BUFFER_DEFAULT;\r
+ card->syncTxBufBase = card->baseAddressPtr + CL2_SYNC_BUFFER_DEFAULT;\r
+ card->rxBufPtr = card->rxBufBase;\r
+ card->asyncTxBufPtr = card->asyncTxBufBase;\r
+ card->syncTxBufPtr = card->syncTxBufBase;\r
+ card->commandRegister = card->baseAddressPtr+CL2_COMMAND_REGISTER;\r
+ card->dataPtr = card->baseAddressPtr + CL2_DATA_BUFFER;\r
+ card->rxBufSize = CL2_RX_BUFFER_SIZE;\r
+ card->syncTxBufSize = CL2_TX_SYNC_BUFFER_SIZE;\r
+ card->asyncTxBufSize = CL2_TX_ASYNC_BUFFER_SIZE;\r
+ card->status = 0;\r
+ for ( i = 0; i < 10; i++ ) card->rtrSub[i] = 0xFFFFFFFFL;\r
+ return CL2_OK;\r
+ } /* cl2_init_card */\r
+\r
+\r
+/*******************************************************************************\r
+* cl2_test_card - test card\r
+* """""""""""""\r
+*\r
+* Test whether the card is installed in system and working properly\r
+* or not. If this function fails (return value is CL2_HW_FAILURE)\r
+* check if the card is present and card base address.\r
+*\r
+* RETURNS:\r
+* CL2_OK - card is present and working properly\r
+* CL2_HW_FAILURE - card not found or card error\r
+*\r
+*/\r
+eCL2_RESULT cl2_test_card\r
+ (\r
+ sCAN_CARD *card /* Pointer to card structure */\r
+ )\r
+ {\r
+ BOOLEAN1 isAA = FALSE, is55 = FALSE;\r
+ int i;\r
+ U16 volatile tmpWord;\r
+\r
+ /* timeout for card testing - 1000 read cycles */\r
+ for ( i = 0; i < 10000; i++ )\r
+ {\r
+ if ( isAA && is55 ) return CL2_OK;\r
+ tmpWord = *((U16*)(card->baseAddressPtr));\r
+ if ( (tmpWord & 0x00FF) == 0x00AA ) isAA = TRUE;\r
+ if ( (tmpWord & 0x00FF) == 0x0055 ) is55 = TRUE;\r
+ }\r
+\r
+ return CL2_HW_FAILURE;\r
+ } /* cl2_test_card */\r
+\r
+\r
+/*******************************************************************************\r
+* cl2_reset_card - reset card\r
+* """"""""""""""\r
+*\r
+* Card pointed by *card gets hardware reset. This command resets\r
+* card processor, card settings are restored to their default\r
+* values.\r
+*\r
+* RETURNS:\r
+* CL2_OK - command completed successfuly\r
+*\r
+*/\r
+eCL2_RESULT cl2_reset_card\r
+ (\r
+ sCAN_CARD *card /* Pointer to card structure */\r
+ )\r
+ {\r
+ *((U16*)(card->baseAddressPtr + CL2_RESET_REGISTER)) = 0x0000;\r
+ return CL2_OK;\r
+ } /* cl2_reset_card */\r
+\r
+\r
+/*******************************************************************************\r
+* cl2_get_version - read card version\r
+* """""""""""""""\r
+*\r
+* Fucntion reads a value from card version register.\r
+*\r
+* RETURNS:\r
+* CL2_OK - command completed successfuly\r
+*\r
+*/\r
+eCL2_RESULT cl2_get_version\r
+ (\r
+ sCAN_CARD *card, /* Pointer to card structure */\r
+ U16 *version /* returns card version */\r
+ )\r
+ {\r
+ *version = *((U16*)(card->baseAddressPtr + CL2_VERSION_REGISTER));\r
+ return CL2_OK;\r
+ } /* cl2_get_version */\r
+\r
+\r
+/*******************************************************************************\r
+* cl2_gen_interrupt - request for interrupt\r
+* """""""""""""""""\r
+*\r
+* CAN card is requested to generate interrupt if there is any reason\r
+* to do it. The condition for interrupt generation is defined by\r
+* cl2_int_mode command.\r
+*\r
+* RETURNS:\r
+* CL2_OK - command completed successfuly\r
+*\r
+*/\r
+eCL2_RESULT cl2_gen_interrupt\r
+ (\r
+ sCAN_CARD *card /* Pointer to card structure */\r
+ )\r
+ {\r
+ *((U16*)(card->baseAddressPtr + CL2_GEN_INT_REGISTER)) = 0x0000;\r
+ return CL2_OK;\r
+ } /* cl2_gen_interrupt */\r
+\r
+\r
+/*******************************************************************************\r
+* cl2_start_it - start inhibit time\r
+* """"""""""""\r
+*\r
+* Command starts interrupt inhibit time. If there is any reason for\r
+* interrupt geneation, the card generates interrupt after end of\r
+* specified time interval. Time interval is set by cl2_set_iit command.\r
+*\r
+* RETURNS:\r
+* CL2_OK - command completed successfuly\r
+*\r
+*/\r
+eCL2_RESULT cl2_start_it\r
+ (\r
+ sCAN_CARD *card /* Pointer to card structure */\r
+ )\r
+ {\r
+ *((U16*)(card->baseAddressPtr + CL2_START_IT_REGISTER)) = 0x0000;\r
+ return CL2_OK;\r
+ } /* cl2_start_it */\r
+\r
+\r
+/*******************************************************************************\r
+* cl2_clear_interrupt - clear interrupt\r
+* """""""""""""""""""\r
+*\r
+* Comand clears interrupt (IRQ) generated by a card.\r
+*\r
+* RETURNS:\r
+* CL2_OK - command completed successfuly\r
+*\r
+*/\r
+eCL2_RESULT cl2_clear_interrupt\r
+ (\r
+ sCAN_CARD *card /* Pointer to card structure */\r
+ )\r
+ {\r
+ *((U16*)(card->baseAddressPtr + CL2_CLEAR_INT_REGISTER)) = 0x0000;\r
+ return CL2_OK;\r
+ } /* cl2_clear_interrupt */\r
+\r
+\r
+/*******************************************************************************\r
+* cl2_int_mode - set interrupt mode\r
+* """"""""""""\r
+*\r
+* Command controls, which event will generate interrupt. Constants\r
+* CL2_INT_XXXX are used for setting of interrupt mode.\r
+*\r
+* RETURNS:\r
+* CL2_OK - command completed successfuly\r
+* CL2_BAD_PARAM - bad command parameter\r
+* CL2_COMMAND_BUSY - previous command not completed\r
+*\r
+*/\r
+eCL2_RESULT cl2_int_mode\r
+ (\r
+ sCAN_CARD *card, /* Pointer to card structure */\r
+ U16 mode /* Interrupt mode */\r
+ )\r
+ {\r
+ if ( mode > INT_MODE_ALL ) return CL2_BAD_PARAM;\r
+ if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )\r
+ return CL2_COMMAND_BUSY;\r
+ *((U16*)card->dataPtr) = mode;\r
+ *((U16*)card->commandRegister) = ((U16)cmCL2_INT_MODE + CL2_COMMAND_VALID);\r
+ return CL2_OK;\r
+ } /* cl2_int_mode */\r
+\r
+\r
+/*******************************************************************************\r
+* cl2_iit_mode - inhibit interrupt time mode\r
+* """"""""""""\r
+*\r
+* Command enables/disables inhibit interupt time mode.\r
+*\r
+* RETURNS:\r
+* CL2_OK - command completed successfuly\r
+* CL2_COMMAND_BUSY - previous command not completed\r
+*\r
+*/\r
+eCL2_RESULT cl2_iit_mode\r
+ (\r
+ sCAN_CARD *card, /* Pointer to card structure */\r
+ BOOLEAN1 onoff /* IIT mode - TRUE=on, FALSE=off */\r
+ )\r
+ {\r
+ if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID ) return\r
+ CL2_COMMAND_BUSY;\r
+ *((U16*)card->dataPtr) = (U16)onoff;\r
+ *((U16*)card->commandRegister) = ((U16)cmCL2_IIT_MODE + CL2_COMMAND_VALID);\r
+ return CL2_OK;\r
+ } /* cl2_iit_mode */\r
+\r
+\r
+/*******************************************************************************\r
+* cl2_sync_mode - sync mode\r
+* """""""""""""\r
+*\r
+* Command enables/disables transmission of SYNC frames.\r
+*\r
+* RETURNS:\r
+* CL2_OK - command completed successfuly\r
+* CL2_COMMAND_BUSY - previous command not completed\r
+*\r
+*/\r
+eCL2_RESULT cl2_sync_mode\r
+ (\r
+ sCAN_CARD *card, /* Pointer to card structure */\r
+ BOOLEAN1 onoff /* Sync mode - TRUE=on, FALSE=off */\r
+ )\r
+ {\r
+ if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )\r
+ return CL2_COMMAND_BUSY;\r
+ *((U16*)card->dataPtr) = (U16)onoff;\r
+ *((U16*)card->commandRegister) = ((U16)cmCL2_SYNC_MODE + CL2_COMMAND_VALID);\r
+ return CL2_OK;\r
+ } /* cl2_sync_mode */\r
+\r
+\r
+/*******************************************************************************\r
+* cl2_rtr_mode - rtr mode\r
+* """"""""""""\r
+*\r
+* Command enables/disables automatic transmission of RTR frames\r
+*\r
+* RETURNS:\r
+* CL2_OK - command completed successfuly\r
+* CL2_COMMAND_BUSY - previous command not completed\r
+*\r
+*/\r
+eCL2_RESULT cl2_rtr_mode\r
+ (\r
+ sCAN_CARD *card, /* Pointer to card structure */\r
+ BOOLEAN1 onoff /* RTR mode - TRUE=on, FALSE=off */\r
+ )\r
+ {\r
+ if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )\r
+ return CL2_COMMAND_BUSY;\r
+ *((U16*)card->dataPtr) = (U16)onoff;\r
+ *((U16*)card->commandRegister) = ((U16)cmCL2_RTR_MODE + CL2_COMMAND_VALID);\r
+ return CL2_OK;\r
+ } /* cl2_rtr_mode */\r
+\r
+\r
+/*******************************************************************************\r
+* cl2_buf_size - size of synchronous queue\r
+* """"""""""""\r
+*\r
+* Command sets the size of synchronous send buffer. The size is\r
+* in numbers of messages. Default buffer size is 32 messages.\r
+* The sum of synchronous_buffer_size and asynchronous_buffer_size\r
+* is constant and equal to 64. So, if the size od synchronous\r
+* buffer increases, the size of asynchronous buffer decreases and\r
+* vice versa.\r
+* NOTE: 1 message = 16 bytes\r
+*\r
+* RETURNS:\r
+* CL2_OK - command completed successfully\r
+* CL2_COMMAND_BUSY - previous command not completed\r
+* CL2_BAD_PARAM - bad command parameter (bufSize>64)\r
+*\r
+*/\r
+eCL2_RESULT cl2_buf_size\r
+ (\r
+ sCAN_CARD *card, /* Pointer to card structure */\r
+ U16 bufSize /* Size of synchronous buffer */\r
+ )\r
+ {\r
+ if ( bufSize > 64 ) return CL2_BAD_PARAM;\r
+ if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )\r
+ return CL2_COMMAND_BUSY;\r
+ *((U16*)card->dataPtr) = bufSize;\r
+ *((U16*)card->commandRegister) = ((U16)cmCL2_BUF_SIZE + CL2_COMMAND_VALID);\r
+ card->syncTxBufSize = bufSize;\r
+ card->asyncTxBufSize = 64 - bufSize;\r
+ card->syncTxBufPtr = card->syncTxBufBase;\r
+ card->asyncTxBufPtr = card->asyncTxBufBase = card->syncTxBufBase+bufSize*16;\r
+ return CL2_OK;\r
+ } /* cl2_buf_size */\r
+\r
+\r
+/*******************************************************************************\r
+* cl2_set_iit - set value of inhibit interrupt time\r
+* """""""""""\r
+*\r
+* Command sets value of inhibit interrupt time. If inhibit\r
+* interrupt time mode is enabled and started, generation of\r
+* interrupt (IRQ) is disabled during this time period.\r
+* Inhibit interrupt time can be set from 100 us to 6.5535 s\r
+*\r
+* RETURNS:\r
+* CL2_OK - command completed successfuly\r
+* CL2_COMMAND_BUSY - previous command not completed\r
+*\r
+*/\r
+eCL2_RESULT cl2_set_iit\r
+ (\r
+ sCAN_CARD *card, /* Pointer to card structure */\r
+ U16 iit /* time period in x100 us */\r
+ )\r
+ {\r
+ if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )\r
+ return CL2_COMMAND_BUSY;\r
+ *((U16*)card->dataPtr) = iit;\r
+ *((U16*)card->commandRegister) = ((U16)cmCL2_SET_IIT + CL2_COMMAND_VALID);\r
+ return CL2_OK;\r
+ } /* cl2_set_iit */\r
+\r
+\r
+/*******************************************************************************\r
+* cl2_start_firmware - start firmware\r
+* """"""""""""""""""\r
+*\r
+* Command starts card firmware\r
+*\r
+* RETURNS:\r
+* CL2_OK - command completed successfuly\r
+* CL2_COMMAND_BUSY - previous command not completed\r
+*\r
+*/\r
+eCL2_RESULT cl2_start_firmware\r
+ (\r
+ sCAN_CARD *card /* Pointer to card structure */\r
+ )\r
+ {\r
+ if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )\r
+ return CL2_COMMAND_BUSY;\r
+ *((U16*)card->commandRegister) = ((U16)cmCL2_START_FIRMWARE +\r
+ CL2_COMMAND_VALID);\r
+ return CL2_OK;\r
+ } /* cl2_start_firmware */\r
+\r
+\r
+/*******************************************************************************\r
+* cl2_set_rec_mode - set receive mode\r
+* """"""""""""""""\r
+*\r
+* Command sets card receive mode. This enable reception of standard\r
+* or extended frames according to CAN 2.0A and 2.0B specifications.\r
+* If value of mode is TRUE, card receives extended frames, if mode\r
+* is FALSE, card receives standard massage format (default).\r
+*\r
+* RETURNS:\r
+* CL2_OK - command completed successfuly\r
+* CL2_COMMAND_BUSY - previous command not completed\r
+*\r
+*/\r
+eCL2_RESULT cl2_set_rec_mode\r
+ (\r
+ sCAN_CARD *card, /* Pointer to card structure */\r
+ BOOLEAN1 mode /* Mode - TRUE=ext, FALSE=std */\r
+ )\r
+ {\r
+ if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )\r
+ return CL2_COMMAND_BUSY;\r
+ *((U16*)card->dataPtr) = (U16)mode;\r
+ *((U16*)card->commandRegister) = ((U16)cmCL2_SET_REC_MODE +\r
+ CL2_COMMAND_VALID);\r
+ return CL2_OK;\r
+ } /* cl2_set_rec_mode */\r
+\r
+\r
+/*******************************************************************************\r
+* cl2_clr_rx_buffer - clear RX buffer\r
+* """""""""""""""""\r
+*\r
+* Command clears receive (rx) buffer. All messages stored in\r
+* rx buffer will be lost.\r
+*\r
+* RETURNS:\r
+* CL2_OK - command completed successfuly\r
+* CL2_COMMAND_BUSY - previous command not completed\r
+*\r
+*/\r
+eCL2_RESULT cl2_clr_rx_buffer\r
+ (\r
+ sCAN_CARD *card /* Pointer to card structure */\r
+ )\r
+ {\r
+ if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )\r
+ return CL2_COMMAND_BUSY;\r
+ card->rxBufPtr = card->rxBufBase;\r
+ *((U16*)card->commandRegister) = ((U16)cmCL2_CLR_RX_BUFFER +\r
+ CL2_COMMAND_VALID);\r
+ return CL2_OK;\r
+ } /* cl2_clr_rx_buffer */\r
+\r
+\r
+/*******************************************************************************\r
+* cl2_clr_sync_buffer - clear synchronous buffer\r
+* """""""""""""""""""\r
+*\r
+* Command clears synchronous send buffer. All messages stored\r
+* in synchronous buffer will be lost.\r
+*\r
+* RETURNS:\r
+* CL2_OK - command completed successfuly\r
+* CL2_COMMAND_BUSY - previous command not completed\r
+*\r
+*/\r
+eCL2_RESULT cl2_clr_sync_buffer\r
+ (\r
+ sCAN_CARD *card /* Pointer to card structure */\r
+ )\r
+ {\r
+ if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )\r
+ return CL2_COMMAND_BUSY;\r
+ card->syncTxBufPtr = card->syncTxBufBase;\r
+ *((U16*)card->commandRegister) = ((U16)cmCL2_CLR_SYNC_BUFFER +\r
+ CL2_COMMAND_VALID);\r
+ return CL2_OK;\r
+ } /* cl2_clr_sync_buffer */\r
+\r
+\r
+/*******************************************************************************\r
+* cl2_clr_async_buffer - clear asynchronous buffer\r
+* """"""""""""""""""""\r
+*\r
+* Command clears asynchronnous send buffer. All messages stored\r
+* in async buffer will be lost.\r
+*\r
+* RETURNS:\r
+* CL2_OK - command completed successfuly\r
+* CL2_COMMAND_BUSY - previous command not completed\r
+*\r
+*/\r
+eCL2_RESULT cl2_clr_async_buffer\r
+ (\r
+ sCAN_CARD *card /* Pointer to card structure */\r
+ )\r
+ {\r
+ if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )\r
+ return CL2_COMMAND_BUSY;\r
+ card->asyncTxBufPtr = card->syncTxBufBase + card->syncTxBufSize*16;\r
+ *((U16*)card->commandRegister) = ((U16)cmCL2_CLR_ASYNC_BUFFER +\r
+ CL2_COMMAND_VALID);\r
+ return CL2_OK;\r
+ } /* cl2_clr_async_buffer */\r
+\r
+\r
+/*******************************************************************************\r
+* cl2_send_time_sync - send time synchronization\r
+* """"""""""""""""""\r
+*\r
+* Command forces the card to start the High Resolution Synchronization\r
+* Protocol according to the CANopen Communication profile. The SYNC\r
+* mode has to be enabled (cl2_sync_mode) otherwise this command has\r
+* no effect.\r
+*\r
+* RETURNS:\r
+* CL2_OK - command completed successfuly\r
+* CL2_COMMAND_BUSY - previous command not completed\r
+*\r
+*/\r
+eCL2_RESULT cl2_send_time_sync\r
+ (\r
+ sCAN_CARD *card /* Pointer to card structure */\r
+ )\r
+ {\r
+ if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID ) return\r
+ CL2_COMMAND_BUSY;\r
+ *((U16*)card->commandRegister) = ((U16)cmCL2_SEND_TIME_SYNC +\r
+ CL2_COMMAND_VALID);\r
+ return CL2_OK;\r
+ } /* cl2_send_time_sync */\r
+\r
+\r
+/*******************************************************************************\r
+* cl2_set_time_cobid - set time COB-ID\r
+* """"""""""""""""""\r
+*\r
+* Command sets the COB-ID for high resolution synchronization\r
+* frame. The synchronization can be then made by means of\r
+* cl2_send_time_sync command.\r
+*\r
+* RETURNS:\r
+* CL2_OK - command completed successfuly\r
+* CL2_COMMAND_BUSY - previous command not completed\r
+*\r
+*/\r
+eCL2_RESULT cl2_set_time_cobid\r
+ (\r
+ sCAN_CARD *card, /* Pointer to card structure */\r
+ U32 COBID /* HRS frame COB-ID */\r
+ )\r
+ {\r
+ U16 cobidL, cobidH;\r
+ U16 *ptr = (U16 *)card->dataPtr;\r
+\r
+ if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )\r
+ return CL2_COMMAND_BUSY;\r
+\r
+ if ( COBID & CL2_TMP_EXHIGH ) /* standard or extended format? */\r
+ { /* 2.0B frame */\r
+ COBID <<= 3;\r
+ cobidL = (U16)(COBID & 0x0000FFFFL);\r
+ cobidH = (U16)((COBID & 0xFFFF0000L)>>16);\r
+ cobidH = ((cobidH >> 8) & 0x00FF) | (((cobidH << 8) & 0xFF00));\r
+ *ptr++ = cobidH;\r
+ cobidL = ((cobidL >> 8) & 0x00FF) | (((cobidL << 8) & 0xFF00));\r
+ *ptr++ = cobidL;\r
+ *ptr = CL2_TMP_EX2;\r
+ }\r
+ else\r
+ { /* 2.0A frame */\r
+ COBID <<= 5;\r
+ cobidH = (U16)(COBID & 0x0000FFFFL);\r
+ cobidH = ((cobidH >> 8) & 0x00FF) | (((cobidH << 8) & 0xFF00));\r
+ *ptr++ = cobidH;\r
+ *ptr++ = 0;\r
+ *ptr = 0;\r
+ }\r
+\r
+ *((U16*)card->commandRegister) = ((U16)cmCL2_SET_TIME_COBID +\r
+ CL2_COMMAND_VALID);\r
+ return CL2_OK;\r
+ } /* cl2_set_time_cobid */\r
+\r
+\r
+/*******************************************************************************\r
+* cl2_set_receive_limit - set limit for receive signaling\r
+* """""""""""""""""""""\r
+*\r
+* Command is used to set the receive limit signalized by bit\r
+* RL (in CL2.H CL2_X_DATA_IN_RBUF) of the Status Register.\r
+* This bit is set when more then the limit number of frames\r
+* was received since the last interrupt was generated (in interrupt\r
+* mode) or since the Status Register was last time read.\r
+*\r
+* RETURNS:\r
+* CL2_OK\r
+* CL2_COMMAND_BUSY - previous command not completed\r
+* CL2_BAD_PARAM - bad command parameter\r
+*/\r
+eCL2_RESULT cl2_set_receive_limit\r
+ (\r
+ sCAN_CARD *card, /* pointer to card structure */\r
+ U16 limit /* limit of messages in receive buffer */\r
+ )\r
+ {\r
+ if ( limit > 127 ) return CL2_BAD_PARAM;\r
+ if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )\r
+ return CL2_COMMAND_BUSY;\r
+ *((U16*)card->dataPtr) = limit;\r
+ *((U16*)card->commandRegister) = ((U16)cmCL2_SET_RECEIVE_LIMIT +\r
+ CL2_COMMAND_VALID);\r
+ return CL2_OK;\r
+ } /* cl2_set_receive_limit */\r
+\r
+\r
+/*******************************************************************************\r
+* cl2_download_rtr_list - download rtr list\r
+* """""""""""""""""""""\r
+*\r
+* Command downloads a list of up to 64 RTR frames. These frames are\r
+* periodically transmitted by the card. The parameters, how often\r
+* frames are send and in which SYNC period is defined by period and\r
+* subperiod in sRTR_FRAME structure.\r
+*\r
+* RETURNS:\r
+* CL2_OK - command completed successfuly\r
+* CL2_COMMAND_BUSY - previous command not completed\r
+* CL2_BAD_PARAM - bad command parameter\r
+*\r
+*/\r
+eCL2_RESULT cl2_download_rtr_list\r
+ (\r
+ sCAN_CARD *card, /* Pointer to card structure */\r
+ sRTR_LIST *rtrList /* RTR list */\r
+ )\r
+ {\r
+ U16 *ptrTmp = (U16*)card->dataPtr;\r
+ sRTR_FRAME *ptrRTR = rtrList->data;\r
+ U16 tmpU16;\r
+ U32 COBID;\r
+ U16 cobidH, cobidL, i;\r
+\r
+ if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID ) return\r
+ CL2_COMMAND_BUSY;\r
+ if ( rtrList->nb > 64 ) return CL2_BAD_PARAM;\r
+\r
+ *ptrTmp++ = (U16)rtrList->nb;\r
+ for ( i = 0; i < rtrList->nb; i++ )\r
+ {\r
+ if ( ptrRTR->period < ptrRTR->subperiod ) return CL2_BAD_PARAM;\r
+ if ( ptrRTR->subperiod == 0 ) ptrRTR->subperiod = 1;\r
+ tmpU16 = (ptrRTR->period & 0x00FF) + ((ptrRTR->subperiod & 0x00FF)<<8);\r
+ *ptrTmp++ = tmpU16;\r
+ COBID = ptrRTR->cob_id;\r
+\r
+ if ( COBID & CL2_TMP_EXHIGH ) /* standard or extended format? */\r
+ { /* 2.0B frame */\r
+ COBID <<= 3;\r
+ cobidL = (U16)(COBID & 0x0000FFFFL);\r
+ cobidH = (U16)((COBID & 0xFFFF0000L)>>16);\r
+ cobidH = ((cobidH >> 8) & 0x00FF) | (((cobidH << 8) & 0xFF00));\r
+ *ptrTmp++ = cobidH;\r
+ cobidL = ((cobidL >> 8) & 0x00FF) | (((cobidL << 8) & 0xFF00));\r
+ *ptrTmp++ = cobidL;\r
+ }\r
+ else\r
+ { /* 2.0A frame */\r
+ COBID <<= 5;\r
+ cobidH = (U16)(COBID & 0x0000FFFFL);\r
+ cobidH = ((cobidH >> 8) & 0x00FF) | (((cobidH << 8) & 0xFF00));\r
+ *ptrTmp++ = cobidH;\r
+ *ptrTmp++ = 0;\r
+ }\r
+\r
+ *ptrTmp++ = 0x0000; /* rezerva */\r
+ ptrRTR++;\r
+ }\r
+\r
+ *((U16*)card->commandRegister) = ((U16)cmCL2_DOWNLOAD_RTR_LIST +\r
+ CL2_COMMAND_VALID);\r
+ return CL2_OK;\r
+ } /* cl2_download_rtrlist */\r
+\r
+\r
+/*******************************************************************************\r
+* cl2_subscribe_rtr - subscribe RTR frame\r
+* """""""""""""""""\r
+*\r
+* Command subscribes RTR frame. Incoming RTR frames which were\r
+* subscribed are accepted, while other are ignored. Up to 10\r
+* RTR frames can be subscribed.\r
+*\r
+* RETURNS:\r
+* CL2_OK - command completed successfuly\r
+* CL2_COMMAND_BUSY - previous command not completed\r
+* CL2_BAD_PARAM - bad command parameter\r
+*\r
+*/\r
+eCL2_RESULT cl2_subscribe_rtr\r
+ (\r
+ sCAN_CARD *card, /* Pointer to card structure */\r
+ sCAN_MESSAGE *canMessage, /* RTR frame */\r
+ U16 RTRnumber /* number of RTR */\r
+ )\r
+ {\r
+ U16 *ptrU16 = (U16*)card->dataPtr;\r
+ U32 COBID;\r
+ U16 cobidH, cobidL;\r
+\r
+ if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )\r
+ return CL2_COMMAND_BUSY;\r
+ if ( RTRnumber > 9 ) return CL2_BAD_PARAM;\r
+\r
+ card->rtrSub[RTRnumber] = canMessage->COB_ID;\r
+ *ptrU16 = RTRnumber;\r
+ ptrU16++;\r
+ COBID = canMessage->COB_ID;\r
+\r
+ if ( COBID & CL2_TMP_EXHIGH ) /* standard or extended format? */\r
+ { /* 2.0B frame */\r
+ COBID <<= 3;\r
+ cobidL = (U16)(COBID & 0x0000FFFFL);\r
+ cobidH = (U16)((COBID & 0xFFFF0000L)>>16);\r
+ cobidH = ((cobidH >> 8) & 0x00FF) | (((cobidH << 8) & 0xFF00));\r
+ *ptrU16++ = cobidH;\r
+ cobidL = ((cobidL >> 8) & 0x00FF) | (((cobidL << 8) & 0xFF00));\r
+ *ptrU16++ = cobidL;\r
+ *ptrU16 = (U16)CL2_EXT_FRAME;\r
+ }\r
+ else\r
+ { /* 2.0A frame */\r
+ COBID <<= 5;\r
+ cobidH = (U16)(COBID & 0x0000FFFFL);\r
+ cobidH = ((cobidH >> 8) & 0x00FF) | (((cobidH << 8) & 0xFF00));\r
+ *ptrU16++ = cobidH;\r
+ *ptrU16++ = 0;\r
+ *ptrU16 = 0;\r
+ }\r
+\r
+ *((U16*)card->commandRegister) = ((U16)cmCL2_SUBSCRIBE_RTR +\r
+ CL2_COMMAND_VALID);\r
+ return CL2_OK;\r
+ } /* cl2_subscribe_rtr */\r
+\r
+\r
+/*******************************************************************************\r
+* cl2_desubscribe_rtr - desubscribe rtr frame\r
+* """""""""""""""""""\r
+*\r
+* Command desubscribes RTR frame. Card will not accept RTR frames\r
+* with this identifier.\r
+*\r
+* RETURNS:\r
+* CL2_OK - command completed successfuly\r
+* CL2_COMMAND_BUSY - previous command not completed\r
+* CL2_BAD_PARAM - bad command parameter\r
+*\r
+*/\r
+eCL2_RESULT cl2_desubscribe_rtr\r
+ (\r
+ sCAN_CARD *card, /* Pointer to card structure */\r
+ sCAN_MESSAGE *canMessage /* RTR frame */\r
+ )\r
+ {\r
+ U16 i;\r
+\r
+ if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )\r
+ return CL2_COMMAND_BUSY;\r
+\r
+ for ( i = 0; i < 10; i++ )\r
+ {\r
+ if ( card->rtrSub[i] == canMessage->COB_ID )\r
+ {\r
+ card->rtrSub[i] = 0xFFFFFFFFL;\r
+ break;\r
+ }\r
+ }\r
+\r
+ if ( i >= 10 ) return CL2_BAD_PARAM;\r
+\r
+ *((U16*)card->dataPtr) = i;\r
+ *((U16*)card->commandRegister) = ((U16)cmCL2_DESUBSCRIBE_RTR +\r
+ CL2_COMMAND_VALID);\r
+ return CL2_OK;\r
+ } /* cl2_desubscribe_rtr */\r
+\r
+\r
+\r
+/*******************************************************************************\r
+* cl2_set_sync_cobid - set COB-ID\r
+* """"""""""""""""""\r
+*\r
+* Command sets COB-ID of SYNC frame. In active SYNC mode, the SYNC\r
+* frame with this COB-ID is periodically sent with period defined\r
+* by cl2_set_sync_period command.\r
+*\r
+* RETURNS:\r
+* CL2_OK - command completed successfuly\r
+* CL2_COMMAND_BUSY - previous command not completed\r
+*\r
+*/\r
+eCL2_RESULT cl2_set_sync_cobid\r
+ (\r
+ sCAN_CARD *card, /* Pointer to card structure */\r
+ U32 COBID /* COB-ID */\r
+ )\r
+ {\r
+ U16 cobidL, cobidH;\r
+ U16 *ptr = (U16 *)card->dataPtr;\r
+\r
+ if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )\r
+ return CL2_COMMAND_BUSY;\r
+\r
+ if ( COBID & CL2_TMP_EXHIGH ) /* standard or extended format? */\r
+ { /* 2.0B frame */\r
+ COBID <<= 3;\r
+ cobidL = (U16)(COBID & 0x0000FFFFL);\r
+ cobidH = (U16)((COBID & 0xFFFF0000L)>>16);\r
+ cobidH = ((cobidH >> 8) & 0x00FF) | (((cobidH << 8) & 0xFF00));\r
+ *ptr++ = cobidH;\r
+ cobidL = ((cobidL >> 8) & 0x00FF) | (((cobidL << 8) & 0xFF00));\r
+ *ptr++ = cobidL;\r
+ *ptr = CL2_TMP_EX2;\r
+ }\r
+ else\r
+ { /* 2.0A frame */\r
+ COBID <<= 5;\r
+ cobidH = (U16)(COBID & 0x0000FFFFL);\r
+ cobidH = ((cobidH >> 8) & 0x00FF) | (((cobidH << 8) & 0xFF00));\r
+ *ptr++ = cobidH;\r
+ *ptr++ = 0;\r
+ *ptr = 0;\r
+ }\r
+\r
+ *((U16*)card->commandRegister) = ((U16)cmCL2_SET_COBID + CL2_COMMAND_VALID);\r
+ return CL2_OK;\r
+ } /* cl2_set_sync_cobid */\r
+\r
+\r
+/*******************************************************************************\r
+* cl2_set_sync_period - set SYNC period\r
+* """""""""""""""""""\r
+*\r
+* Coomand sets the SYNC frame send period in active SYNC mode in\r
+* x100 us. The period range is from 0 to 0xFFFF (SYNC period can\r
+* be set from 100us to 6.5535s).\r
+*\r
+* RETURNS:\r
+* CL2_OK - command completed successfuly\r
+* CL2_COMMAND_BUSY - previous command not completed\r
+*\r
+*/\r
+eCL2_RESULT cl2_set_sync_period\r
+ (\r
+ sCAN_CARD *card, /* Pointer to card structure */\r
+ U16 period /* period in x100 us */\r
+ )\r
+ {\r
+ if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )\r
+ return CL2_COMMAND_BUSY;\r
+ *((U16*)card->dataPtr) = (U16)period;\r
+ *((U16*)card->commandRegister) = ((U16)cmCL2_SET_SYNC_PERIOD +\r
+ CL2_COMMAND_VALID);\r
+ return CL2_OK;\r
+ } /* cl2_set_sync_period */\r
+\r
+\r
+/*******************************************************************************\r
+* cl2_set_sync_window - set SYNC window\r
+* """""""""""""""""""\r
+*\r
+* Command sets the SYNC window length. Only during this time period\r
+* after SYNC frame was send or receive the frames from the synchronous\r
+* send buffer can be sent.\r
+*\r
+* RETURNS:\r
+* CL2_OK - command completed successfuly\r
+* CL2_COMMAND_BUSY - previous command not completed\r
+*\r
+*/\r
+eCL2_RESULT cl2_set_sync_window\r
+ (\r
+ sCAN_CARD *card, /* Pointer to card structure */\r
+ U16 window /* period in x100 us */\r
+ )\r
+ {\r
+ if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )\r
+ return CL2_COMMAND_BUSY;\r
+ *((U16*)card->dataPtr) = (U16)window;\r
+ *((U16*)card->commandRegister) = ((U16)cmCL2_SET_SYNC_WINDOW +\r
+ CL2_COMMAND_VALID);\r
+ return CL2_OK;\r
+ } /* cl2_set_sync_window */\r
+\r
+\r
+/*******************************************************************************\r
+* cl2_set_bitrate - set CAN bit-rate\r
+* """""""""""""""\r
+*\r
+* Command switches the bus bit-rate. There are some predefined\r
+* constants CL2_BITRATE_XXXX.\r
+*\r
+* RETURNS:\r
+* CL2_OK - command completed successfuly\r
+* CL2_COMMAND_BUSY - previous command not completed\r
+*\r
+*/\r
+eCL2_RESULT cl2_set_bitrate\r
+ (\r
+ sCAN_CARD *card, /* Pointer to card structure */\r
+ U16 bitrate /* CAN bitrate */\r
+ )\r
+ {\r
+ if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )\r
+ return CL2_COMMAND_BUSY;\r
+ *((U16*)card->dataPtr) = bitrate;\r
+ *((U16*)card->commandRegister) = ((U16)cmCL2_SET_BITRATE +\r
+ CL2_COMMAND_VALID);\r
+ return CL2_OK;\r
+ } /* cl2_set_bitrate */\r
+\r
+\r
+/*******************************************************************************\r
+* cl2_bus_reset - resets CAN controller\r
+* """""""""""""\r
+*\r
+* Command resets CAN controller\r
+*\r
+* RETURNS:\r
+* CL2_OK - command completed successfuly\r
+* CL2_COMMAND_BUSY - previously command not completed\r
+*\r
+*/\r
+eCL2_RESULT cl2_bus_reset\r
+ (\r
+ sCAN_CARD *card\r
+ )\r
+ {\r
+ if ( *(U16*)card->commandRegister & CL2_COMMAND_VALID )\r
+ return CL2_COMMAND_BUSY;\r
+ *((U16*)card->commandRegister) = ((U16)cmCL2_BUS_RESET +\r
+ CL2_COMMAND_VALID);\r
+ return CL2_OK;\r
+ } /* cl2_bus_reset */\r
+\r
+\r
+/*******************************************************************************\r
+* cl2_send_sync - sends synchronous frame\r
+* """""""""""""\r
+*\r
+* Command stores massage in synchronous send buffer.\r
+*\r
+* RETURNS:\r
+* CL2_OK - command completed successfuly\r
+* CL2_HW_QUEUE_FULL - synchronous send buffer is full\r
+* CL2_BAD_PARAM - bad command parameter\r
+* CL2_HW_FAILURE - error in HW configuration\r
+*\r
+*/\r
+eCL2_RESULT cl2_send_sync\r
+ (\r
+ sCAN_CARD *card, /* pointer to card */\r
+ sCAN_MESSAGE *message /* massage to be sent */\r
+ )\r
+ {\r
+ U32 cobid;\r
+ U16 cobidL,cobidH;\r
+ U16 *ptrU16 = (U16*)card->syncTxBufPtr;\r
+ U16 tmpU16;\r
+ int i;\r
+ int timeStamp = 0;\r
+\r
+ if ( card->syncTxBufSize==0 ) return CL2_HW_FAILURE;\r
+ if ( message->dataLength > 8 ) return CL2_BAD_PARAM;\r
+ if ( *ptrU16 & CL2_FRAME_VALID ) return CL2_HW_QUEUE_FULL;\r
+\r
+ cobid = message->COB_ID;\r
+ if ( (message->dataType & CL2_EXT_FRAME) || (cobid & CL2_TMP_EXHIGH) )\r
+ { /* 2.0B frame */\r
+ cobid <<= 3;\r
+ cobidL = (U16)(cobid & 0x0000FFFFL);\r
+ cobidH = (U16)((cobid & 0xFFFF0000L)>>16);\r
+ }\r
+ else\r
+ { /* 2.0A frame */\r
+ cobid <<= 5;\r
+ cobidL = 0;\r
+ cobidH = (U16)(cobid & 0x0000FFFFL);\r
+ }\r
+ ptrU16++;\r
+ tmpU16 = (cobidH & 0x00FF) + (cobidL & 0xFF00);\r
+ *ptrU16++ = tmpU16;\r
+\r
+ tmpU16 = (((U16)message->dataLength) << 12) + (cobidL & 0x00FF);\r
+ if ( !(message->dataType & CL2_REMOTE_FRAME) ) tmpU16 |= CL2_TMP_RF;\r
+ if ( (message->dataType & CL2_EXT_FRAME) ||\r
+ (message->COB_ID & CL2_TMP_EXHIGH) )\r
+ tmpU16 |= CL2_TMP_EX;\r
+ *ptrU16++ = tmpU16;\r
+\r
+ for ( i = 0; i < message->dataLength; )\r
+ {\r
+ tmpU16 = (U16)message->data[i]; i++;\r
+ if ( i == message->dataLength )\r
+ {\r
+ timeStamp = 1;\r
+ tmpU16 |= ((message->timeStamp & 0x00FF)<<8);\r
+ *ptrU16++ = tmpU16;\r
+ }\r
+ else\r
+ {\r
+ tmpU16 |= ((U16)message->data[i]<<8); i++;\r
+ *ptrU16++ = tmpU16;\r
+ }\r
+ }\r
+ if ( timeStamp )\r
+ {\r
+ tmpU16 = (message->timeStamp>>8) & 0x00FF;\r
+ *ptrU16 = tmpU16;\r
+ }\r
+ else\r
+ {\r
+ *ptrU16 = message->timeStamp;\r
+ }\r
+\r
+ tmpU16 = (((U16)cobidH) & 0xFF00) | CL2_MESSAGE_VALID;\r
+ *(U16*)card->syncTxBufPtr = tmpU16;\r
+\r
+ if ( (card->syncTxBufBase + card->syncTxBufSize*16) <=\r
+ (card->syncTxBufPtr += 16) )\r
+ {\r
+ card->syncTxBufPtr = card->syncTxBufBase;\r
+ }\r
+ return CL2_OK;\r
+ } /* cl2_send_sync */\r
+\r
+\r
+/*******************************************************************************\r
+* cl2_send_async - sends asynchronous frame\r
+* """"""""""""""\r
+*\r
+* Command stores message in asynchronous send buffer.\r
+*\r
+* RETURNS:\r
+* CL2_OK - command completed successfuly\r
+* CL2_HW_QUEUE_FULL - asynchronous buffer full\r
+* CL2_HW_FAILURE - error in HW configuration\r
+* CL2_BAD_PARAM - bad command parameter\r
+*\r
+*/\r
+eCL2_RESULT cl2_send_async\r
+ (\r
+ sCAN_CARD *card, /* pointer to card */\r
+ sCAN_MESSAGE *message /* message to be sent */\r
+ )\r
+ {\r
+ U32 cobid;\r
+ U16 cobidL,cobidH;\r
+ U16 *ptrU16 = (U16*)card->asyncTxBufPtr;\r
+ U16 tmpU16;\r
+ int i;\r
+ int timeStamp = 0;\r
+\r
+ if ( card->asyncTxBufSize==0 ) return CL2_HW_FAILURE;\r
+ if ( message->dataLength > 8 ) return CL2_BAD_PARAM;\r
+ if ( *ptrU16 & CL2_FRAME_VALID ) return CL2_HW_QUEUE_FULL;\r
+\r
+ cobid = message->COB_ID;\r
+ if ( (message->dataType & CL2_EXT_FRAME) || (cobid & CL2_TMP_EXHIGH) )\r
+ { /* 2.0B frame */\r
+ cobid <<= 3;\r
+ cobidL = (U16)(cobid & 0x0000FFFFL);\r
+ cobidH = (U16)((cobid & 0xFFFF0000L)>>16);\r
+ }\r
+ else\r
+ { /* 2.0A frame */\r
+ cobid <<= 5;\r
+ cobidL = 0;\r
+ cobidH = (U16)(cobid & 0x0000FFFFL);\r
+ }\r
+ ptrU16++;\r
+ tmpU16 = (cobidH & 0x00FF ) + (cobidL & 0xFF00);\r
+ *ptrU16++ = tmpU16;\r
+\r
+ tmpU16 = (((U16)message->dataLength) << 12) + (cobidL & 0x00FF);\r
+ if ( !(message->dataType & CL2_REMOTE_FRAME) ) tmpU16 |= CL2_TMP_RF;\r
+ if ( (message->dataType & CL2_EXT_FRAME) ||\r
+ (message->COB_ID & CL2_TMP_EXHIGH ) )\r
+ tmpU16 |= CL2_TMP_EX;\r
+ *ptrU16++ = tmpU16;\r
+\r
+ for ( i = 0; i < message->dataLength; )\r
+ {\r
+ tmpU16 = (U16)message->data[i]; i++;\r
+ if ( i == message->dataLength )\r
+ {\r
+ timeStamp = 1;\r
+ tmpU16 |= ((message->timeStamp & 0x00FF)<<8);\r
+ *ptrU16++ = tmpU16;\r
+ }\r
+ else\r
+ {\r
+ tmpU16 |= ((U16)message->data[i]<<8); i++;\r
+ *ptrU16++ = tmpU16;\r
+ }\r
+ }\r
+ if ( timeStamp )\r
+ {\r
+ tmpU16 = (message->timeStamp>>8) & 0x00FF;\r
+ *ptrU16 = tmpU16;\r
+ }\r
+ else\r
+ {\r
+ *ptrU16 = message->timeStamp;\r
+ }\r
+\r
+ tmpU16 = (((U16)cobidH) & 0xFF00) | CL2_MESSAGE_VALID;\r
+ *(U16*)card->asyncTxBufPtr = tmpU16;\r
+\r
+ if ( (card->asyncTxBufBase + card->asyncTxBufSize*16) <=\r
+ (card->asyncTxBufPtr += 16) )\r
+ {\r
+ card->asyncTxBufPtr = card->asyncTxBufBase;\r
+ }\r
+ return CL2_OK;\r
+ } /* cl2_send_async */\r
+\r
+\r
+/*******************************************************************************\r
+* cl2_get_status - reads card status\r
+* """"""""""""""\r
+*\r
+* Command reads card status register. If data in status register\r
+* are valid (status valid flag is set), the value of status is read\r
+* and stored in status and sCAN_CARD structure.\r
+*\r
+* RETURNS:\r
+* CL2_OK - command completed successfuly\r
+* CL2_NO_REQUEST - status is not valid\r
+*\r
+*/\r
+eCL2_RESULT cl2_get_status\r
+ (\r
+ sCAN_CARD *card, /* pointer to card */\r
+ U16 *status /* card status word */\r
+ )\r
+ {\r
+ U16 *ptr;\r
+\r
+ ptr = (U16*)(card->baseAddressPtr + CL2_STATUS_REGISTER);\r
+ *status = *ptr;\r
+ if ( (*status & CL2_STATUS_VALID_FLAG) )\r
+ {\r
+ *ptr = *status & ~CL2_STATUS_VALID_FLAG;\r
+ card->status = *status;\r
+ return CL2_OK;\r
+ }\r
+ return CL2_NO_REQUEST;\r
+ } /* cl2_get_status */\r
+\r
+\r
+/*******************************************************************************\r
+* cl2_get_error - reads card error\r
+* """""""""""""\r
+*\r
+* Command reads card error register. If data in error register\r
+* are valid (error register valid flag is set), the value of error\r
+* register is read and stored in error and sCAN_CARD structure.\r
+*\r
+* RETURNS:\r
+* Cl2_OK - command completed successfuly\r
+*\r
+*/\r
+eCL2_RESULT cl2_get_error\r
+ (\r
+ sCAN_CARD *card, /* pointer to card */\r
+ U16 *error /* card error word */\r
+ )\r
+ {\r
+ U16 *ptr;\r
+\r
+ ptr = (U16*)(card->baseAddressPtr + CL2_ERROR_REGISTER);\r
+ *error = *ptr;\r
+ card->error |= *error;\r
+ *ptr = 0x0000;\r
+ return CL2_OK;\r
+ } /* cl2_get_error */\r
+\r
+\r
+/*******************************************************************************\r
+* cl2_receive_data - reads received frame\r
+* """"""""""""""""\r
+*\r
+* Command reads new messages received by a card.\r
+*\r
+* RETURNS:\r
+* CL2_OK - command commpleted successfuly\r
+* CL2_NO_REQUEST - there is no new message\r
+*\r
+*/\r
+eCL2_RESULT cl2_receive_data\r
+ (\r
+ sCAN_CARD *card, /* Pointer to card structure */\r
+ sCAN_MESSAGE *canMessage /* Message */\r
+ )\r
+ {\r
+ U16 *ptrU16 = (U16*)card->rxBufPtr;\r
+ U16 tmpU16;\r
+ U16 i;\r
+\r
+ tmpU16 = *ptrU16++;\r
+ if ( !(tmpU16 & CL2_MESSAGE_VALID) ) return CL2_NO_REQUEST;\r
+ canMessage->COB_ID = ((U32)(tmpU16 & 0xFF00 )) << 16;\r
+ tmpU16 = *ptrU16++;\r
+ canMessage->COB_ID |= ((U32)( tmpU16 & 0x00FF )) << 16;\r
+ canMessage->COB_ID |= (U32)( tmpU16 & 0xFF00 );\r
+ tmpU16 = *ptrU16++;\r
+ canMessage->COB_ID |= (U32)( tmpU16 & 0x00FF );\r
+ canMessage->dataType = (U8)(( tmpU16 & 0xFF00 ) >> 8);\r
+\r
+ if ( canMessage->dataType & CL2_EXT_FRAME )\r
+ { /* 2.0B frame */\r
+ canMessage->COB_ID >>= 3;\r
+ /* canMessage->COB_ID |= CL2_TMP_EXHIGH; */\r
+ }\r
+ else\r
+ { /* 2.0A frame */\r
+ canMessage->COB_ID >>= 21;\r
+ }\r
+ canMessage->dataLength = (U8)( (tmpU16 >> 12) & 0x000F );\r
+ /* if ( !(tmpU16 & CL2_TMP_RF) ) canMessage->dataType |= CL2_REMOTE_FRAME; */\r
+ for ( i = 0; i < canMessage->dataLength; )\r
+ {\r
+ tmpU16 = *ptrU16++;\r
+ canMessage->data[i++] = (U8)( tmpU16 );\r
+ canMessage->data[i++] = (U8)( tmpU16 >> 8 );\r
+ }\r
+ if ( canMessage->dataLength & 0x01 )\r
+ { /* odd */\r
+ canMessage->timeStamp = ( (*ptrU16 & 0x00FF) | (tmpU16 & 0xFF00) );\r
+ }\r
+ else /* even */\r
+ {\r
+ canMessage->timeStamp = *ptrU16 << 8 | *ptrU16 >> 8;\r
+ }\r
+ *(U16*)card->rxBufPtr = 0x0000;\r
+\r
+ /* increment rx-buffer pointer */\r
+ if ( (card->rxBufBase + card->rxBufSize*16 ) <= (card->rxBufPtr += 16) )\r
+ {\r
+ card->rxBufPtr = card->rxBufBase;\r
+ }\r
+\r
+ return CL2_OK;\r
+ } /* cl2_receive_data */\r
+\r
+\r
+/* **************************************************************** *\r
+ * END OF CL2.C *\r
+ * **************************************************************** */\r
+\r
+\r
-default_CONFIG = CONFIG_OC_LINCAN=y CONFIG_OC_LINCANRTL=y
+default_CONFIG = CONFIG_OC_LINCAN=x CONFIG_OC_LINCANRTL=x
ifeq ($(CONFIG_OC_LINCAN),y)
projects / lincan.git / commitdiff