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https://gitlab.rtems.org/rtems/rtos/rtems.git
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da7cb87b4d
Reimplemented the baud-rate algorithm from scratch to cope with GRCAN, GRCANFD and OC_CAN devices. Update #4306.
166 lines
4.3 KiB
C
166 lines
4.3 KiB
C
/**
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* @file
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* @ingroup can
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* @brief Driver API for GRLIB wrapper to OpenCores CAN
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*/
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/*
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* COPYRIGHT (c) 2007.
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* Cobham Gaisler AB.
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*
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* The license and distribution terms for this file may be
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* found in the file LICENSE in this distribution or at
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* http://www.rtems.org/license/LICENSE.
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*/
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#ifndef __OCCAN_DRIVER_H__
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#define __OCCAN_DRIVER_H__
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* CAN MESSAGE */
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typedef struct {
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char extended; /* 1= Extended Frame (29-bit id), 0= STD Frame (11-bit id) */
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char rtr; /* RTR - Remote Transmission Request */
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char sshot; /* single shot */
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unsigned char len;
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unsigned char data[8];
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unsigned int id;
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} CANMsg;
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typedef struct {
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/* tx/rx stats */
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unsigned int rx_msgs;
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unsigned int tx_msgs;
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/* Error Interrupt counters */
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unsigned int err_warn;
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unsigned int err_dovr;
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unsigned int err_errp;
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unsigned int err_arb;
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unsigned int err_bus;
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/**** BUS ERRORS (err_arb) ****/
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/* ALC 4-0 */
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unsigned int err_arb_bitnum[32]; /* At what bit arbitration is lost */
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/******************************/
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/**** BUS ERRORS (err_bus) ****/
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/* ECC 7-6 */
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unsigned int err_bus_bit; /* Bit error */
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unsigned int err_bus_form; /* Form Error */
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unsigned int err_bus_stuff; /* Stuff Error */
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unsigned int err_bus_other; /* Other Error */
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/* ECC 5 */
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unsigned int err_bus_rx; /* Errors during Reception */
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unsigned int err_bus_tx; /* Errors during Transmission */
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/* ECC 4:0 */
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unsigned int err_bus_segs[32]; /* Segment (Where in frame error occured)
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* See OCCAN_SEG_* defines for indexes
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*/
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/******************************/
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/* total number of interrupts */
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unsigned int ints;
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/* software monitoring hw errors */
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unsigned int tx_buf_error;
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/* Software fifo overrun */
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unsigned int rx_sw_dovr;
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} occan_stats;
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/* indexes into occan_stats.err_bus_segs[index] */
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#define OCCAN_SEG_ID28 0x02 /* ID field bit 28:21 */
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#define OCCAN_SEG_ID20 0x06 /* ID field bit 20:18 */
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#define OCCAN_SEG_ID17 0x07 /* ID field bit 17:13 */
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#define OCCAN_SEG_ID12 0x0f /* ID field bit 12:5 */
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#define OCCAN_SEG_ID4 0x0e /* ID field bit 4:0 */
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#define OCCAN_SEG_START 0x03 /* Start of Frame */
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#define OCCAN_SEG_SRTR 0x04 /* Bit SRTR */
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#define OCCAN_SEG_IDE 0x05 /* Bit IDE */
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#define OCCAN_SEG_RTR 0x0c /* Bit RTR */
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#define OCCAN_SEG_RSV0 0x09 /* Reserved bit 0 */
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#define OCCAN_SEG_RSV1 0x0d /* Reserved bit 1 */
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#define OCCAN_SEG_DLEN 0x0b /* Data Length code */
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#define OCCAN_SEG_DFIELD 0x0a /* Data Field */
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#define OCCAN_SEG_CRC_SEQ 0x08 /* CRC Sequence */
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#define OCCAN_SEG_CRC_DELIM 0x18 /* CRC Delimiter */
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#define OCCAN_SEG_ACK_SLOT 0x19 /* Acknowledge slot */
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#define OCCAN_SEG_ACK_DELIM 0x1b /* Acknowledge delimiter */
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#define OCCAN_SEG_EOF 0x1a /* End Of Frame */
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#define OCCAN_SEG_INTERMISSION 0x12 /* Intermission */
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#define OCCAN_SEG_ACT_ERR 0x11 /* Active error flag */
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#define OCCAN_SEG_PASS_ERR 0x16 /* Passive error flag */
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#define OCCAN_SEG_DOMINANT 0x13 /* Tolerate dominant bits */
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#define OCCAN_SEG_EDELIM 0x17 /* Error delimiter */
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#define OCCAN_SEG_OVERLOAD 0x1c /* overload flag */
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#define CANMSG_OPT_RTR 0x40 /* RTR Frame */
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#define CANMSG_OPT_EXTENDED 0x80 /* Exteneded frame */
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#define CANMSG_OPT_SSHOT 0x01 /* Single Shot, no retry */
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#define OCCAN_IOC_START 1
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#define OCCAN_IOC_STOP 2
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#define OCCAN_IOC_GET_CONF 3
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#define OCCAN_IOC_GET_STATS 4
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#define OCCAN_IOC_GET_STATUS 5
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#define OCCAN_IOC_SET_SPEED 6
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#define OCCAN_IOC_SPEED_AUTO 7
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#define OCCAN_IOC_SET_LINK 8
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#define OCCAN_IOC_SET_FILTER 9
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#define OCCAN_IOC_SET_BLK_MODE 10
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#define OCCAN_IOC_SET_BUFLEN 11
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#define OCCAN_IOC_SET_BTRS 12
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struct occan_afilter {
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unsigned char code[4];
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unsigned char mask[4];
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int single_mode;
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};
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#define OCCAN_STATUS_RESET 0x01
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#define OCCAN_STATUS_OVERRUN 0x02
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#define OCCAN_STATUS_WARN 0x04
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#define OCCAN_STATUS_ERR_PASSIVE 0x08
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#define OCCAN_STATUS_ERR_BUSOFF 0x10
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#define OCCAN_STATUS_QUEUE_ERROR 0x80
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#define OCCAN_BLK_MODE_RX 0x1
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#define OCCAN_BLK_MODE_TX 0x2
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void occan_register_drv (void);
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#define OCCAN_SPEED_500K 500000
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#define OCCAN_SPEED_250K 250000
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#define OCCAN_SPEED_125K 125000
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#define OCCAN_SPEED_75K 75000
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#define OCCAN_SPEED_50K 50000
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#define OCCAN_SPEED_25K 25000
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#define OCCAN_SPEED_10K 10000
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#ifdef __cplusplus
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}
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#endif
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#endif
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