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import RT-Thread@9217865c without bsp, libcpu and components/net

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This commit is contained in:
Zihao Yu 2023-05-20 16:23:33 +08:00
commit e2376a3709
1414 changed files with 390370 additions and 0 deletions
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8
components/drivers/can/SConscript Normal file
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from building import *
cwd = GetCurrentDir()
src = Glob('*.c')
CPPPATH = [cwd + '/../include']
group = DefineGroup('DeviceDrivers', src, depend = ['RT_USING_CAN'], CPPPATH = CPPPATH)
Return('group')

971
components/drivers/can/can.c Normal file
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/*
* Copyright (c) 2006-2023, RT-Thread Development Team
*
* SPDX-License-Identifier: Apache-2.0
*
* Change Logs:
* Date Author Notes
* 2015-05-14 aubrcool@qq.com first version
* 2015-07-06 Bernard code cleanup and remove RT_CAN_USING_LED;
*/
#include <rthw.h>
#include <rtthread.h>
#include <rtdevice.h>
#define CAN_LOCK(can) rt_mutex_take(&(can->lock), RT_WAITING_FOREVER)
#define CAN_UNLOCK(can) rt_mutex_release(&(can->lock))
static rt_err_t rt_can_init(struct rt_device *dev)
{
rt_err_t result = RT_EOK;
struct rt_can_device *can;
RT_ASSERT(dev != RT_NULL);
can = (struct rt_can_device *)dev;
/* initialize rx/tx */
can->can_rx = RT_NULL;
can->can_tx = RT_NULL;
#ifdef RT_CAN_USING_HDR
can->hdr = RT_NULL;
#endif
/* apply configuration */
if (can->ops->configure)
result = can->ops->configure(can, &can->config);
else
result = -RT_ENOSYS;
return result;
}
/*
* can interrupt routines
*/
rt_inline int _can_int_rx(struct rt_can_device *can, struct rt_can_msg *data, int msgs)
{
int size;
struct rt_can_rx_fifo *rx_fifo;
RT_ASSERT(can != RT_NULL);
size = msgs;
rx_fifo = (struct rt_can_rx_fifo *) can->can_rx;
RT_ASSERT(rx_fifo != RT_NULL);
/* read from software FIFO */
while (msgs)
{
rt_base_t level;
#ifdef RT_CAN_USING_HDR
rt_int8_t hdr;
#endif /*RT_CAN_USING_HDR*/
struct rt_can_msg_list *listmsg = RT_NULL;
/* disable interrupt */
level = rt_hw_interrupt_disable();
#ifdef RT_CAN_USING_HDR
hdr = data->hdr_index;
if (hdr >= 0 && can->hdr && hdr < can->config.maxhdr && !rt_list_isempty(&can->hdr[hdr].list))
{
listmsg = rt_list_entry(can->hdr[hdr].list.next, struct rt_can_msg_list, hdrlist);
rt_list_remove(&listmsg->list);
rt_list_remove(&listmsg->hdrlist);
if (can->hdr[hdr].msgs)
{
can->hdr[hdr].msgs--;
}
listmsg->owner = RT_NULL;
}
else if (hdr == -1)
#endif /*RT_CAN_USING_HDR*/
{
if (!rt_list_isempty(&rx_fifo->uselist))
{
listmsg = rt_list_entry(rx_fifo->uselist.next, struct rt_can_msg_list, list);
rt_list_remove(&listmsg->list);
#ifdef RT_CAN_USING_HDR
rt_list_remove(&listmsg->hdrlist);
if (listmsg->owner != RT_NULL && listmsg->owner->msgs)
{
listmsg->owner->msgs--;
}
listmsg->owner = RT_NULL;
#endif /*RT_CAN_USING_HDR*/
}
else
{
/* no data, enable interrupt and break out */
rt_hw_interrupt_enable(level);
break;
}
}
/* enable interrupt */
rt_hw_interrupt_enable(level);
if (listmsg != RT_NULL)
{
rt_memcpy(data, &listmsg->data, sizeof(struct rt_can_msg));
level = rt_hw_interrupt_disable();
rt_list_insert_before(&rx_fifo->freelist, &listmsg->list);
rx_fifo->freenumbers++;
RT_ASSERT(rx_fifo->freenumbers <= can->config.msgboxsz);
rt_hw_interrupt_enable(level);
listmsg = RT_NULL;
}
else
{
break;
}
data ++;
msgs -= sizeof(struct rt_can_msg);
}
return (size - msgs);
}
rt_inline int _can_int_tx(struct rt_can_device *can, const struct rt_can_msg *data, int msgs)
{
int size;
struct rt_can_tx_fifo *tx_fifo;
RT_ASSERT(can != RT_NULL);
size = msgs;
tx_fifo = (struct rt_can_tx_fifo *) can->can_tx;
RT_ASSERT(tx_fifo != RT_NULL);
while (msgs)
{
rt_base_t level;
rt_uint32_t no;
rt_uint32_t result;
struct rt_can_sndbxinx_list *tx_tosnd = RT_NULL;
rt_sem_take(&(tx_fifo->sem), RT_WAITING_FOREVER);
level = rt_hw_interrupt_disable();
tx_tosnd = rt_list_entry(tx_fifo->freelist.next, struct rt_can_sndbxinx_list, list);
RT_ASSERT(tx_tosnd != RT_NULL);
rt_list_remove(&tx_tosnd->list);
rt_hw_interrupt_enable(level);
no = ((rt_uint32_t)tx_tosnd - (rt_uint32_t)tx_fifo->buffer) / sizeof(struct rt_can_sndbxinx_list);
tx_tosnd->result = RT_CAN_SND_RESULT_WAIT;
if (can->ops->sendmsg(can, data, no) != RT_EOK)
{
/* send failed. */
level = rt_hw_interrupt_disable();
rt_list_insert_before(&tx_fifo->freelist, &tx_tosnd->list);
rt_hw_interrupt_enable(level);
rt_sem_release(&(tx_fifo->sem));
goto err_ret;
}
can->status.sndchange = 1;
rt_completion_wait(&(tx_tosnd->completion), RT_WAITING_FOREVER);
level = rt_hw_interrupt_disable();
result = tx_tosnd->result;
if (!rt_list_isempty(&tx_tosnd->list))
{
rt_list_remove(&tx_tosnd->list);
}
rt_list_insert_before(&tx_fifo->freelist, &tx_tosnd->list);
rt_hw_interrupt_enable(level);
rt_sem_release(&(tx_fifo->sem));
if (result == RT_CAN_SND_RESULT_OK)
{
level = rt_hw_interrupt_disable();
can->status.sndpkg++;
rt_hw_interrupt_enable(level);
data ++;
msgs -= sizeof(struct rt_can_msg);
if (!msgs) break;
}
else
{
err_ret:
level = rt_hw_interrupt_disable();
can->status.dropedsndpkg++;
rt_hw_interrupt_enable(level);
break;
}
}
return (size - msgs);
}
rt_inline int _can_int_tx_priv(struct rt_can_device *can, const struct rt_can_msg *data, int msgs)
{
int size;
rt_base_t level;
rt_uint32_t no, result;
struct rt_can_tx_fifo *tx_fifo;
RT_ASSERT(can != RT_NULL);
size = msgs;
tx_fifo = (struct rt_can_tx_fifo *) can->can_tx;
RT_ASSERT(tx_fifo != RT_NULL);
while (msgs)
{
no = data->priv;
if (no >= can->config.sndboxnumber)
{
break;
}
level = rt_hw_interrupt_disable();
if ((tx_fifo->buffer[no].result != RT_CAN_SND_RESULT_OK))
{
rt_hw_interrupt_enable(level);
rt_completion_wait(&(tx_fifo->buffer[no].completion), RT_WAITING_FOREVER);
continue;
}
tx_fifo->buffer[no].result = RT_CAN_SND_RESULT_WAIT;
rt_hw_interrupt_enable(level);
if (can->ops->sendmsg(can, data, no) != RT_EOK)
{
continue;
}
can->status.sndchange = 1;
rt_completion_wait(&(tx_fifo->buffer[no].completion), RT_WAITING_FOREVER);
result = tx_fifo->buffer[no].result;
if (result == RT_CAN_SND_RESULT_OK)
{
level = rt_hw_interrupt_disable();
can->status.sndpkg++;
rt_hw_interrupt_enable(level);
data ++;
msgs -= sizeof(struct rt_can_msg);
if (!msgs) break;
}
else
{
level = rt_hw_interrupt_disable();
can->status.dropedsndpkg++;
rt_hw_interrupt_enable(level);
break;
}
}
return (size - msgs);
}
static rt_err_t rt_can_open(struct rt_device *dev, rt_uint16_t oflag)
{
struct rt_can_device *can;
char tmpname[16];
RT_ASSERT(dev != RT_NULL);
can = (struct rt_can_device *)dev;
CAN_LOCK(can);
/* get open flags */
dev->open_flag = oflag & 0xff;
if (can->can_rx == RT_NULL)
{
if (oflag & RT_DEVICE_FLAG_INT_RX)
{
int i = 0;
struct rt_can_rx_fifo *rx_fifo;
rx_fifo = (struct rt_can_rx_fifo *) rt_malloc(sizeof(struct rt_can_rx_fifo) +
can->config.msgboxsz * sizeof(struct rt_can_msg_list));
RT_ASSERT(rx_fifo != RT_NULL);
rx_fifo->buffer = (struct rt_can_msg_list *)(rx_fifo + 1);
rt_memset(rx_fifo->buffer, 0, can->config.msgboxsz * sizeof(struct rt_can_msg_list));
rt_list_init(&rx_fifo->freelist);
rt_list_init(&rx_fifo->uselist);
rx_fifo->freenumbers = can->config.msgboxsz;
for (i = 0; i < can->config.msgboxsz; i++)
{
rt_list_insert_before(&rx_fifo->freelist, &rx_fifo->buffer[i].list);
#ifdef RT_CAN_USING_HDR
rt_list_init(&rx_fifo->buffer[i].hdrlist);
rx_fifo->buffer[i].owner = RT_NULL;
#endif
}
can->can_rx = rx_fifo;
dev->open_flag |= RT_DEVICE_FLAG_INT_RX;
/* open can rx interrupt */
can->ops->control(can, RT_DEVICE_CTRL_SET_INT, (void *)RT_DEVICE_FLAG_INT_RX);
}
}
if (can->can_tx == RT_NULL)
{
if (oflag & RT_DEVICE_FLAG_INT_TX)
{
int i = 0;
struct rt_can_tx_fifo *tx_fifo;
tx_fifo = (struct rt_can_tx_fifo *) rt_malloc(sizeof(struct rt_can_tx_fifo) +
can->config.sndboxnumber * sizeof(struct rt_can_sndbxinx_list));
RT_ASSERT(tx_fifo != RT_NULL);
tx_fifo->buffer = (struct rt_can_sndbxinx_list *)(tx_fifo + 1);
rt_memset(tx_fifo->buffer, 0,
can->config.sndboxnumber * sizeof(struct rt_can_sndbxinx_list));
rt_list_init(&tx_fifo->freelist);
for (i = 0; i < can->config.sndboxnumber; i++)
{
rt_list_insert_before(&tx_fifo->freelist, &tx_fifo->buffer[i].list);
rt_completion_init(&(tx_fifo->buffer[i].completion));
tx_fifo->buffer[i].result = RT_CAN_SND_RESULT_OK;
}
rt_sprintf(tmpname, "%stl", dev->parent.name);
rt_sem_init(&(tx_fifo->sem), tmpname, can->config.sndboxnumber, RT_IPC_FLAG_FIFO);
can->can_tx = tx_fifo;
dev->open_flag |= RT_DEVICE_FLAG_INT_TX;
/* open can tx interrupt */
can->ops->control(can, RT_DEVICE_CTRL_SET_INT, (void *)RT_DEVICE_FLAG_INT_TX);
}
}
can->ops->control(can, RT_DEVICE_CTRL_SET_INT, (void *)RT_DEVICE_CAN_INT_ERR);
#ifdef RT_CAN_USING_HDR
if (can->hdr == RT_NULL)
{
int i = 0;
struct rt_can_hdr *phdr;
phdr = (struct rt_can_hdr *) rt_malloc(can->config.maxhdr * sizeof(struct rt_can_hdr));
RT_ASSERT(phdr != RT_NULL);
rt_memset(phdr, 0, can->config.maxhdr * sizeof(struct rt_can_hdr));
for (i = 0; i < can->config.maxhdr; i++)
{
rt_list_init(&phdr[i].list);
}
can->hdr = phdr;
}
#endif
if (!can->timerinitflag)
{
can->timerinitflag = 1;
rt_timer_start(&can->timer);
}
CAN_UNLOCK(can);
return RT_EOK;
}
static rt_err_t rt_can_close(struct rt_device *dev)
{
struct rt_can_device *can;
RT_ASSERT(dev != RT_NULL);
can = (struct rt_can_device *)dev;
CAN_LOCK(can);
/* this device has more reference count */
if (dev->ref_count > 1)
{
CAN_UNLOCK(can);
return RT_EOK;
}
if (can->timerinitflag)
{
can->timerinitflag = 0;
rt_timer_stop(&can->timer);
}
can->status_indicate.ind = RT_NULL;
can->status_indicate.args = RT_NULL;
#ifdef RT_CAN_USING_HDR
if (can->hdr != RT_NULL)
{
rt_free(can->hdr);
can->hdr = RT_NULL;
}
#endif
if (dev->open_flag & RT_DEVICE_FLAG_INT_RX)
{
struct rt_can_rx_fifo *rx_fifo;
rx_fifo = (struct rt_can_rx_fifo *)can->can_rx;
RT_ASSERT(rx_fifo != RT_NULL);
rt_free(rx_fifo);
dev->open_flag &= ~RT_DEVICE_FLAG_INT_RX;
can->can_rx = RT_NULL;
/* clear can rx interrupt */
can->ops->control(can, RT_DEVICE_CTRL_CLR_INT, (void *)RT_DEVICE_FLAG_INT_RX);
}
if (dev->open_flag & RT_DEVICE_FLAG_INT_TX)
{
struct rt_can_tx_fifo *tx_fifo;
tx_fifo = (struct rt_can_tx_fifo *)can->can_tx;
RT_ASSERT(tx_fifo != RT_NULL);
rt_sem_detach(&(tx_fifo->sem));
rt_free(tx_fifo);
dev->open_flag &= ~RT_DEVICE_FLAG_INT_TX;
can->can_tx = RT_NULL;
/* clear can tx interrupt */
can->ops->control(can, RT_DEVICE_CTRL_CLR_INT, (void *)RT_DEVICE_FLAG_INT_TX);
}
can->ops->control(can, RT_DEVICE_CTRL_CLR_INT, (void *)RT_DEVICE_CAN_INT_ERR);
CAN_UNLOCK(can);
return RT_EOK;
}
static rt_ssize_t rt_can_read(struct rt_device *dev,
rt_off_t pos,
void *buffer,
rt_size_t size)
{
struct rt_can_device *can;
RT_ASSERT(dev != RT_NULL);
if (size == 0) return 0;
can = (struct rt_can_device *)dev;
if ((dev->open_flag & RT_DEVICE_FLAG_INT_RX) && (dev->ref_count > 0))
{
return _can_int_rx(can, buffer, size);
}
return 0;
}
static rt_ssize_t rt_can_write(struct rt_device *dev,
rt_off_t pos,
const void *buffer,
rt_size_t size)
{
struct rt_can_device *can;
RT_ASSERT(dev != RT_NULL);
if (size == 0) return 0;
can = (struct rt_can_device *)dev;
if ((dev->open_flag & RT_DEVICE_FLAG_INT_TX) && (dev->ref_count > 0))
{
if (can->config.privmode)
{
return _can_int_tx_priv(can, buffer, size);
}
else
{
return _can_int_tx(can, buffer, size);
}
}
return 0;
}
static rt_err_t rt_can_control(struct rt_device *dev,
int cmd,
void *args)
{
struct rt_can_device *can;
rt_err_t res;
res = RT_EOK;
RT_ASSERT(dev != RT_NULL);
can = (struct rt_can_device *)dev;
switch (cmd)
{
case RT_DEVICE_CTRL_SUSPEND:
/* suspend device */
dev->flag |= RT_DEVICE_FLAG_SUSPENDED;
break;
case RT_DEVICE_CTRL_RESUME:
/* resume device */
dev->flag &= ~RT_DEVICE_FLAG_SUSPENDED;
break;
case RT_DEVICE_CTRL_CONFIG:
/* configure device */
res = can->ops->configure(can, (struct can_configure *)args);
break;
case RT_CAN_CMD_SET_PRIV:
/* configure device */
if ((rt_uint32_t)args != can->config.privmode)
{
int i;
rt_base_t level;
struct rt_can_tx_fifo *tx_fifo;
res = can->ops->control(can, cmd, args);
if (res != RT_EOK) return res;
tx_fifo = (struct rt_can_tx_fifo *) can->can_tx;
if (can->config.privmode)
{
for (i = 0; i < can->config.sndboxnumber; i++)
{
level = rt_hw_interrupt_disable();
if(rt_list_isempty(&tx_fifo->buffer[i].list))
{
rt_sem_release(&(tx_fifo->sem));
}
else
{
rt_list_remove(&tx_fifo->buffer[i].list);
}
rt_hw_interrupt_enable(level);
}
}
else
{
for (i = 0; i < can->config.sndboxnumber; i++)
{
level = rt_hw_interrupt_disable();
if (tx_fifo->buffer[i].result == RT_CAN_SND_RESULT_OK)
{
rt_list_insert_before(&tx_fifo->freelist, &tx_fifo->buffer[i].list);
}
rt_hw_interrupt_enable(level);
}
}
}
break;
case RT_CAN_CMD_SET_STATUS_IND:
can->status_indicate.ind = ((rt_can_status_ind_type_t)args)->ind;
can->status_indicate.args = ((rt_can_status_ind_type_t)args)->args;
break;
#ifdef RT_CAN_USING_HDR
case RT_CAN_CMD_SET_FILTER:
res = can->ops->control(can, cmd, args);
if (res != RT_EOK || can->hdr == RT_NULL)
{
return res;
}
struct rt_can_filter_config *pfilter;
struct rt_can_filter_item *pitem;
rt_uint32_t count;
rt_base_t level;
pfilter = (struct rt_can_filter_config *)args;
RT_ASSERT(pfilter);
count = pfilter->count;
pitem = pfilter->items;
if (pfilter->actived)
{
while (count)
{
if (pitem->hdr_bank >= can->config.maxhdr || pitem->hdr_bank < 0)
{
count--;
pitem++;
continue;
}
level = rt_hw_interrupt_disable();
if (!can->hdr[pitem->hdr_bank].connected)
{
rt_hw_interrupt_enable(level);
rt_memcpy(&can->hdr[pitem->hdr_bank].filter, pitem,
sizeof(struct rt_can_filter_item));
level = rt_hw_interrupt_disable();
can->hdr[pitem->hdr_bank].connected = 1;
can->hdr[pitem->hdr_bank].msgs = 0;
rt_list_init(&can->hdr[pitem->hdr_bank].list);
}
rt_hw_interrupt_enable(level);
count--;
pitem++;
}
}
else
{
while (count)
{
if (pitem->hdr_bank >= can->config.maxhdr || pitem->hdr_bank < 0)
{
count--;
pitem++;
continue;
}
level = rt_hw_interrupt_disable();
if (can->hdr[pitem->hdr_bank].connected)
{
can->hdr[pitem->hdr_bank].connected = 0;
can->hdr[pitem->hdr_bank].msgs = 0;
if (!rt_list_isempty(&can->hdr[pitem->hdr_bank].list))
{
rt_list_remove(can->hdr[pitem->hdr_bank].list.next);
}
rt_hw_interrupt_enable(level);
rt_memset(&can->hdr[pitem->hdr_bank].filter, 0,
sizeof(struct rt_can_filter_item));
}
else
{
rt_hw_interrupt_enable(level);
}
count--;
pitem++;
}
}
break;
#endif /*RT_CAN_USING_HDR*/
#ifdef RT_CAN_USING_BUS_HOOK
case RT_CAN_CMD_SET_BUS_HOOK:
can->bus_hook = (rt_can_bus_hook) args;
break;
#endif /*RT_CAN_USING_BUS_HOOK*/
default :
/* control device */
if (can->ops->control != RT_NULL)
{
res = can->ops->control(can, cmd, args);
}
else
{
res = -RT_ENOSYS;
}
break;
}
return res;
}
/*
* can timer
*/
static void cantimeout(void *arg)
{
rt_can_t can;
can = (rt_can_t)arg;
RT_ASSERT(can);
rt_device_control((rt_device_t)can, RT_CAN_CMD_GET_STATUS, (void *)&can->status);
if (can->status_indicate.ind != RT_NULL)
{
can->status_indicate.ind(can, can->status_indicate.args);
}
#ifdef RT_CAN_USING_BUS_HOOK
if(can->bus_hook)
{
can->bus_hook(can);
}
#endif /*RT_CAN_USING_BUS_HOOK*/
if (can->timerinitflag == 1)
{
can->timerinitflag = 0xFF;
}
}
#ifdef RT_USING_DEVICE_OPS
const static struct rt_device_ops can_device_ops =
{
rt_can_init,
rt_can_open,
rt_can_close,
rt_can_read,
rt_can_write,
rt_can_control
};
#endif
/*
* can register
*/
rt_err_t rt_hw_can_register(struct rt_can_device *can,
const char *name,
const struct rt_can_ops *ops,
void *data)
{
struct rt_device *device;
RT_ASSERT(can != RT_NULL);
device = &(can->parent);
device->type = RT_Device_Class_CAN;
device->rx_indicate = RT_NULL;
device->tx_complete = RT_NULL;
#ifdef RT_CAN_USING_HDR
can->hdr = RT_NULL;
#endif
can->can_rx = RT_NULL;
can->can_tx = RT_NULL;
rt_mutex_init(&(can->lock), "can", RT_IPC_FLAG_PRIO);
#ifdef RT_CAN_USING_BUS_HOOK
can->bus_hook = RT_NULL;
#endif /*RT_CAN_USING_BUS_HOOK*/
#ifdef RT_USING_DEVICE_OPS
device->ops = &can_device_ops;
#else
device->init = rt_can_init;
device->open = rt_can_open;
device->close = rt_can_close;
device->read = rt_can_read;
device->write = rt_can_write;
device->control = rt_can_control;
#endif
can->ops = ops;
can->status_indicate.ind = RT_NULL;
can->status_indicate.args = RT_NULL;
rt_memset(&can->status, 0, sizeof(can->status));
device->user_data = data;
can->timerinitflag = 0;
rt_timer_init(&can->timer,
name,
cantimeout,
(void *)can,
can->config.ticks,
RT_TIMER_FLAG_PERIODIC);
/* register a character device */
return rt_device_register(device, name, RT_DEVICE_FLAG_RDWR);
}
/* ISR for can interrupt */
void rt_hw_can_isr(struct rt_can_device *can, int event)
{
switch (event & 0xff)
{
case RT_CAN_EVENT_RXOF_IND:
{
rt_base_t level;
level = rt_hw_interrupt_disable();
can->status.dropedrcvpkg++;
rt_hw_interrupt_enable(level);
}
case RT_CAN_EVENT_RX_IND:
{
struct rt_can_msg tmpmsg;
struct rt_can_rx_fifo *rx_fifo;
struct rt_can_msg_list *listmsg = RT_NULL;
#ifdef RT_CAN_USING_HDR
rt_int8_t hdr;
#endif
int ch = -1;
rt_base_t level;
rt_uint32_t no;
rx_fifo = (struct rt_can_rx_fifo *)can->can_rx;
RT_ASSERT(rx_fifo != RT_NULL);
/* interrupt mode receive */
RT_ASSERT(can->parent.open_flag & RT_DEVICE_FLAG_INT_RX);
no = event >> 8;
ch = can->ops->recvmsg(can, &tmpmsg, no);
if (ch == -1) break;
/* disable interrupt */
level = rt_hw_interrupt_disable();
can->status.rcvpkg++;
can->status.rcvchange = 1;
if (!rt_list_isempty(&rx_fifo->freelist))
{
listmsg = rt_list_entry(rx_fifo->freelist.next, struct rt_can_msg_list, list);
rt_list_remove(&listmsg->list);
#ifdef RT_CAN_USING_HDR
rt_list_remove(&listmsg->hdrlist);
if (listmsg->owner != RT_NULL && listmsg->owner->msgs)
{
listmsg->owner->msgs--;
}
listmsg->owner = RT_NULL;
#endif /*RT_CAN_USING_HDR*/
RT_ASSERT(rx_fifo->freenumbers > 0);
rx_fifo->freenumbers--;
}
else if (!rt_list_isempty(&rx_fifo->uselist))
{
listmsg = rt_list_entry(rx_fifo->uselist.next, struct rt_can_msg_list, list);
can->status.dropedrcvpkg++;
rt_list_remove(&listmsg->list);
#ifdef RT_CAN_USING_HDR
rt_list_remove(&listmsg->hdrlist);
if (listmsg->owner != RT_NULL && listmsg->owner->msgs)
{
listmsg->owner->msgs--;
}
listmsg->owner = RT_NULL;
#endif
}
/* enable interrupt */
rt_hw_interrupt_enable(level);
if (listmsg != RT_NULL)
{
rt_memcpy(&listmsg->data, &tmpmsg, sizeof(struct rt_can_msg));
level = rt_hw_interrupt_disable();
rt_list_insert_before(&rx_fifo->uselist, &listmsg->list);
#ifdef RT_CAN_USING_HDR
hdr = tmpmsg.hdr_index;
if (can->hdr != RT_NULL)
{
RT_ASSERT(hdr < can->config.maxhdr && hdr >= 0);
if (can->hdr[hdr].connected)
{
rt_list_insert_before(&can->hdr[hdr].list, &listmsg->hdrlist);
listmsg->owner = &can->hdr[hdr];
can->hdr[hdr].msgs++;
}
}
#endif
rt_hw_interrupt_enable(level);
}
/* invoke callback */
#ifdef RT_CAN_USING_HDR
if (can->hdr != RT_NULL && can->hdr[hdr].connected && can->hdr[hdr].filter.ind)
{
rt_size_t rx_length;
RT_ASSERT(hdr < can->config.maxhdr && hdr >= 0);
level = rt_hw_interrupt_disable();
rx_length = can->hdr[hdr].msgs * sizeof(struct rt_can_msg);
rt_hw_interrupt_enable(level);
if (rx_length)
{
can->hdr[hdr].filter.ind(&can->parent, can->hdr[hdr].filter.args, hdr, rx_length);
}
}
else
#endif
{
if (can->parent.rx_indicate != RT_NULL)
{
rt_size_t rx_length;
level = rt_hw_interrupt_disable();
/* get rx length */
rx_length = rt_list_len(&rx_fifo->uselist)* sizeof(struct rt_can_msg);
rt_hw_interrupt_enable(level);
if (rx_length)
{
can->parent.rx_indicate(&can->parent, rx_length);
}
}
}
break;
}
case RT_CAN_EVENT_TX_DONE:
case RT_CAN_EVENT_TX_FAIL:
{
struct rt_can_tx_fifo *tx_fifo;
rt_uint32_t no;
no = event >> 8;
tx_fifo = (struct rt_can_tx_fifo *) can->can_tx;
RT_ASSERT(tx_fifo != RT_NULL);
if ((event & 0xff) == RT_CAN_EVENT_TX_DONE)
{
tx_fifo->buffer[no].result = RT_CAN_SND_RESULT_OK;
}
else
{
tx_fifo->buffer[no].result = RT_CAN_SND_RESULT_ERR;
}
rt_completion_done(&(tx_fifo->buffer[no].completion));
break;
}
}
}
#ifdef RT_USING_FINSH
#include <finsh.h>
int cmd_canstat(int argc, void **argv)
{
static const char *ErrCode[] =
{
"No Error!",
"Warning !",
"Passive !",
"Bus Off !"
};
if (argc >= 2)
{
struct rt_can_status status;
rt_device_t candev = rt_device_find(argv[1]);
if (!candev)
{
rt_kprintf(" Can't find can device %s\n", argv[1]);
return -1;
}
rt_kprintf(" Found can device: %s...", argv[1]);
rt_device_control(candev, RT_CAN_CMD_GET_STATUS, &status);
rt_kprintf("\n Receive...error..count: %010ld. Send.....error....count: %010ld.",
status.rcverrcnt, status.snderrcnt);
rt_kprintf("\n Bit..pad..error..count: %010ld. Format...error....count: %010ld",
status.bitpaderrcnt, status.formaterrcnt);
rt_kprintf("\n Ack.......error..count: %010ld. Bit......error....count: %010ld.",
status.ackerrcnt, status.biterrcnt);
rt_kprintf("\n CRC.......error..count: %010ld. Error.code.[%010ld]: ",
status.crcerrcnt, status.errcode);
switch (status.errcode)
{
case 0:
rt_kprintf("%s.", ErrCode[0]);
break;
case 1:
rt_kprintf("%s.", ErrCode[1]);
break;
case 2:
case 3:
rt_kprintf("%s.", ErrCode[2]);
break;
case 4:
case 5:
case 6:
case 7:
rt_kprintf("%s.", ErrCode[3]);
break;
}
rt_kprintf("\n Total.receive.packages: %010ld. Dropped.receive.packages: %010ld.",
status.rcvpkg, status.dropedrcvpkg);
rt_kprintf("\n Total..send...packages: %010ld. Dropped...send..packages: %010ld.\n",
status.sndpkg + status.dropedsndpkg, status.dropedsndpkg);
}
else
{
rt_kprintf(" Invalid Call %s\n", argv[0]);
rt_kprintf(" Please using %s cannamex .Here canname is driver name and x is candrive number.\n", argv[0]);
}
return 0;
}
MSH_CMD_EXPORT_ALIAS(cmd_canstat, canstat, stat can device status);
#endif

132
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说明:
本驱动完成了can控制器硬件抽象
一 CAN Driver 注册
Can driver注册需要填充以下几个数据结构：
1、struct can_configure
{
rt_uint32_t baud_rate;
rt_uint32_t msgboxsz;
rt_uint32_t sndboxnumber;
rt_uint32_t mode :8;
rt_uint32_t privmode :8;
rt_uint32_t reserved :16;
#ifdef RT_CAN_USING_LED
const struct rt_can_led* rcvled;
const struct rt_can_led* sndled;
const struct rt_can_led* errled;
#endif /*RT_CAN_USING_LED*/
rt_uint32_t ticks;
#ifdef RT_CAN_USING_HDR
rt_uint32_t maxhdr;
#endif
};
struct can_configure 为can驱动的基本配置信息:
baud_rate :
enum CANBAUD
{
CAN1MBaud=0, // 1 MBit/sec
CAN800kBaud, // 800 kBit/sec
CAN500kBaud, // 500 kBit/sec
CAN250kBaud, // 250 kBit/sec
CAN125kBaud, // 125 kBit/sec
CAN100kBaud, // 100 kBit/sec
CAN50kBaud, // 50 kBit/sec
CAN20kBaud, // 20 kBit/sec
CAN10kBaud // 10 kBit/sec
};
配置Can的波特率。
msgboxsz : Can接收邮箱缓冲数量，本驱动在软件层开辟msgboxsz个接收邮箱。
sndboxnumber : can 发送通道数量，该配置为Can控制器实际的发送通道数量。
mode ：
#define RT_CAN_MODE_NORMAL 0 正常模式
#define RT_CAN_MODE_LISEN 1 只听模式
#define RT_CAN_MODE_LOOPBACK 2 自发自收模式
#define RT_CAN_MODE_LOOPBACKANLISEN 3 自发自收只听模式
配置Can 的工作状态。
privmode :
#define RT_CAN_MODE_PRIV 0x01 处于优先级模式，高优先级的消息优先发送。
#define RT_CAN_MODE_NOPRIV 0x00
配置Can driver的优先级模式。
#ifdef RT_CAN_USING_LED
const struct rt_can_led* rcvled;
const struct rt_can_led* sndled;
const struct rt_can_led* errled;
#endif /*RT_CAN_USING_LED*/
配置can led信息, 当前can驱动的led使用了 pin驱动，
开启RT_CAN_USING_LED时要确保当前系统已实现pin驱动。
rt_uint32_t ticks : 配置Can driver timer周期。
#ifdef RT_CAN_USING_HDR
rt_uint32_t maxhdr;
#endif
如果使用硬件过滤，则开启RT_CAN_USING_HDR, maxhdr 为Can控制器过滤表的数量。
2、struct rt_can_ops
{
rt_err_t (*configure)(struct rt_can_device *can, struct can_configure *cfg);
rt_err_t (*control)(struct rt_can_device *can, int cmd, void *arg);
int (*sendmsg)(struct rt_can_device *can, const void* buf, rt_uint32_t boxno);
int (*recvmsg)(struct rt_can_device *can,void* buf, rt_uint32_t boxno);
};
struct rt_can_ops 为要实现的特定的can控制器操作。
rt_err_t (*configure)(struct rt_can_device *can, struct can_configure *cfg);
configure根据配置信息初始化Can控制器工作模式。
rt_err_t (*control)(struct rt_can_device *can, int cmd, void *arg);
control 当前接受以下cmd参数：
#define RT_CAN_CMD_SET_FILTER 0x13
#define RT_CAN_CMD_SET_BAUD 0x14
#define RT_CAN_CMD_SET_MODE 0x15
#define RT_CAN_CMD_SET_PRIV 0x16
#define RT_CAN_CMD_GET_STATUS 0x17
#define RT_CAN_CMD_SET_STATUS_IND 0x18
int (*sendmsg)(struct rt_can_device *can, const void* buf, rt_uint32_t boxno);
sendmsg向Can控制器发送数，boxno为发送通道号。
int (*recvmsg)(struct rt_can_device *can,void* buf, rt_uint32_t boxno);
recvmsg从Can控制器接收数据，boxno为接收通道号。
struct rt_can_device
{
struct rt_device parent;
const struct rt_can_ops *ops;
struct can_configure config;
struct rt_can_status status;
rt_uint32_t timerinitflag;
struct rt_timer timer;
struct rt_can_status_ind_type status_indicate;
#ifdef RT_CAN_USING_HDR
struct rt_can_hdr* hdr;
#endif
void *can_rx;
void *can_tx;
};
填充完成后，便可调用rt_hw_can_register完成can驱动的注册。
二、 CAN Driver 的添加：
要添加一个新的Can驱动，至少要完成以下接口。
1、struct rt_can_ops
{
rt_err_t (*configure)(struct rt_can_device *can, struct can_configure *cfg);
rt_err_t (*control)(struct rt_can_device *can, int cmd, void *arg);
int (*sendmsg)(struct rt_can_device *can, const void* buf, rt_uint32_t boxno);
int (*recvmsg)(struct rt_can_device *can,void* buf, rt_uint32_t boxno);
};
2、 rt_err_t (*control)(struct rt_can_device *can, int cmd, void *arg);
接口的
#define RT_CAN_CMD_SET_FILTER 0x13
#define RT_CAN_CMD_SET_BAUD 0x14
#define RT_CAN_CMD_SET_MODE 0x15
#define RT_CAN_CMD_SET_PRIV 0x16
#define RT_CAN_CMD_GET_STATUS 0x17
#define RT_CAN_CMD_SET_STATUS_IND 0x18
若干命令。
3、can口中断，要完接收，发送结束，以及错误中断。
#define RT_CAN_EVENT_RX_IND 0x01 /* Rx indication */
#define RT_CAN_EVENT_TX_DONE 0x02 /* Tx complete */
#define RT_CAN_EVENT_TX_FAIL 0x03 /* Tx complete */
#define RT_CAN_EVENT_RX_TIMEOUT 0x05 /* Rx timeout */
#define RT_CAN_EVENT_RXOF_IND 0x06 /* Rx overflow */
中断产生后，调用rt_hw_can_isr(struct rt_can_device *can, int event)
进入相应的操作，其中接收发送中断的event，最低8位为上面的事件，16到24位为通信通道号。
一个作为一个例子，参见bsp/stm32f10x/driver下的bxcan.c 。
三、CAN Driver的使用：
一个使用的例子，参数bsp/stm32f10x/applications下的canapp.c
四、当前Can驱动，没有实现轮模式，采用中断模式，bxcan驱动工作在loopback模式下的时候不能读数据。
五、当前Can驱动，在stm32f105上测试，暂无问题。