416 lines
14 KiB
C
416 lines
14 KiB
C
/* wnCAN.h - definitions for Windnet CAN Interface */
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/* Copyright 2001 Wind River Systems, Inc. */
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/*
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modification history
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--------------------
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01a,06oct05,lsg fix warning
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09nov01,dnb modified for integration into Tornado
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12jul01,jac written
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*/
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/*
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DESCRIPTION
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This file contains the declarations and definitions that comprise the
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Windnet CAN Interface.
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*/
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#ifndef WN_CAN_H
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#define WN_CAN_H
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#ifdef __cplusplus
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extern "C" {
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#endif /* __cplusplus */
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#include <CAN/canController.h>
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#include <CAN/canBoard.h>
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typedef struct tagCANVersionInfo
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{
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UCHAR major;
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UCHAR minor;
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} WNCAN_VersionInfo;
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#define WNCAN_ILLEGAL_CHN_NUM 0xff
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/* types of channel configurations */
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#define WNCAN_CHN_INVALID 0x00
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#define WNCAN_CHN_TRANSMIT 0x01
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#define WNCAN_CHN_RECEIVE 0x02
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#define WNCAN_CHN_TRANSMIT_RECEIVE 0x03
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#define WNCAN_CHN_INACTIVE 0x04
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#define WNCAN_CHN_RTR_REQUESTER 0x11
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#define WNCAN_CHN_RTR_RESPONDER 0x12
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typedef UINT WNCAN_ChannelType;
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typedef UINT WNCAN_ChannelMode;
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#define WNCAN_IS_CHN_RTR 0x10
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/* CAN bus error type */
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#define WNCAN_ERR_NONE 0
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#define WNCAN_ERR_BIT 0x1
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#define WNCAN_ERR_ACK 0x2
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#define WNCAN_ERR_CRC 0x4
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#define WNCAN_ERR_FORM 0x8
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#define WNCAN_ERR_STUFF 0x10
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#define WNCAN_ERR_UNKNOWN 0x20
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typedef UINT WNCAN_BusError;
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/* status code returned by CAN_GetBusStatus */
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#define WNCAN_BUS_OK 0
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#define WNCAN_BUS_WARN 1
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#define WNCAN_BUS_OFF 2
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typedef UINT WNCAN_BusStatus;
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/* Interrupt status */
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#define WNCAN_INT_NONE 0
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#define WNCAN_INT_ERROR 0x1
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#define WNCAN_INT_BUS_OFF 0x2
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#define WNCAN_INT_WAKE_UP 0x4
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#define WNCAN_INT_TX 0x8
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#define WNCAN_INT_RX 0x10
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#define WNCAN_INT_RTR_RESPONSE 0x20
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#define WNCAN_INT_TXCLR 0x40
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#define WNCAN_INT_SPURIOUS 0xffffeeee
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#define WNCAN_INT_ALL 0xffffffff
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typedef UINT WNCAN_IntType;
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/*Macro definitions to be used with filtering*/
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#define COMPARE_ALL_STD_IDS 0x7FF
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#define COMPARE_ALL_EXT_IDS 0x1FFFFFFF
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#define ACCEPT_ALL_STD_IDS 0
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#define ACCEPT_ALL_STD_IDS 0
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/* STATUS error codes returned by CAN interface functions */
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#define WNCAN_NOERROR 0
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#define WNCAN_BUSY 80
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#define WNCAN_NOTINITIALIZED 81
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#define WNCAN_NULL_POINTER 82
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#define WNCAN_ILLEGAL_CHANNEL_NO 83
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#define WNCAN_ILLEGAL_CONFIG 84
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#define WNCAN_ILLEGAL_CTRL_NO 85
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#define WNCAN_ILLEGAL_BOARD_INDEX 86
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#define WNCAN_NO_OP 87
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#define WNCAN_BUFFER_UNDERFLOW 89
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#define WNCAN_BUFFER_OVERFLOW 90
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#define WNCAN_ILLEGAL_DATA_LENGTH 91
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#define WNCAN_NULL_BUFFER 92
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#define WNCAN_ILLEGAL_MASK_VALUE 93
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#define WNCAN_BUS_FAULT 94
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#define WNCAN_HWFEATURE_NOT_AVAILABLE 95
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#define WNCAN_ILLEGAL_CHANNEL_MODE 96
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#define WNCAN_RTR_MODE_NOT_SUPPORTED 97
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#define WNCAN_NO_AVAIL_CHANNELS 98
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#define WNCAN_ILLEGAL_OFFSET 101
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#define WNCAN_CANNOT_SET_ERRINT 102
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#define WNCAN_CANNOT_SET_BOFFINT 104
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#define WNCAN_CANNOT_SET_WAKEUPINT 108
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#define WNCAN_INCOMPATIBLE_TYPE 109
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#define WNCAN_SLEEP_IN_RESET_MODE 110
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#define WNCAN_USE_AUTO_RESPONSE 111
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#define WNCAN_USE_RTR_REQ_CHN_MODE 112
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#define WNCAN_TSEG_ZERO 113
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#define WNCAN_NUMTQ_LT_NINE 114
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#define WNCAN_UNKNOWN_ERROR 255
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/* defined error codes */
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#define M_wnCan (496 << 16)
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#define S_can_invalid_parameter (M_wnCan + 1)
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#define S_can_unknown_controller (M_wnCan + 2)
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#define S_can_invalid_timing_combination (M_wnCan + 3)
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#define S_can_out_of_memory (M_wnCan + 4)
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#define S_can_unknown_board (M_wnCan + 5)
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#define S_can_busy (M_wnCan + WNCAN_BUSY)
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#define S_can_illegal_channel_no (M_wnCan + WNCAN_ILLEGAL_CHANNEL_NO)
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#define S_can_illegal_config (M_wnCan + WNCAN_ILLEGAL_CONFIG)
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#define S_can_illegal_ctrl_no (M_wnCan + WNCAN_ILLEGAL_CTRL_NO)
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#define S_can_illegal_board_no (M_wnCan + WNCAN_ILLEGAL_BOARD_INDEX)
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#define S_can_no_op (M_wnCan + WNCAN_NO_OP)
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#define S_can_buffer_underflow (M_wnCan + WNCAN_BUFFER_UNDERFLOW)
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#define S_can_buffer_overflow (M_wnCan + WNCAN_BUFFER_OVERFLOW)
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#define S_can_illegal_data_length (M_wnCan + WNCAN_ILLEGAL_DATA_LENGTH)
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#define S_can_null_input_buffer (M_wnCan + WNCAN_NULL_BUFFER)
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#define S_can_illegal_mask_value (M_wnCan + WNCAN_ILLEGAL_MASK_VALUE)
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#define S_can_bus_fault (M_wnCan + WNCAN_BUS_FAULT)
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#define S_can_hwfeature_not_available (M_wnCan + WNCAN_HWFEATURE_NOT_AVAILABLE)
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#define S_can_illegal_channel_mode (M_wnCan + WNCAN_ILLEGAL_CHANNEL_MODE)
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#define S_can_illegal_offset (M_wnCan + WNCAN_ILLEGAL_OFFSET)
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#define S_can_cannot_set_error_int (M_wnCan + WNCAN_CANNOT_SET_ERRINT)
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#define S_can_cannot_set_boff_int (M_wnCan + WNCAN_CANNOT_SET_BOFFINT)
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#define S_can_cannot_set_wakeup_int (M_wnCan + WNCAN_CANNOT_SET_WAKEUPINT)
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#define S_can_rtr_mode_not_supported (M_wnCan + WNCAN_RTR_MODE_NOT_SUPPORTED)
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#define S_can_no_available_channels (M_wnCan + WNCAN_NO_AVAIL_CHANNELS)
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#define S_can_incompatible_int_type (M_wnCan + WNCAN_INCOMPATIBLE_TYPE)
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#define S_can_cannot_sleep_in_reset_mode (M_wnCan + WNCAN_SLEEP_IN_RESET_MODE)
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#define S_can_use_auto_response_feature (M_wnCan + WNCAN_USE_AUTO_RESPONSE)
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#define S_can_use_rtr_requester_channel_mode (M_wnCan + WNCAN_USE_RTR_REQ_CHN_MODE)
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#define S_can_tseg2_cannot_be_zero (M_wnCan + WNCAN_TSEG_ZERO)
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#define S_can_numTq_less_than_nine (M_wnCan + WNCAN_NUMTQ_LT_NINE)
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#define S_can_Unknown_Error (M_wnCan + WNCAN_UNKNOWN_ERROR)
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struct WNCAN_Controller;
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struct WNCAN_Board;
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typedef struct WNCAN_Device
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{
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STATUS (*Init)(struct WNCAN_Device *p);
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void (*Start)(struct WNCAN_Device *p);
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void (*Stop)(struct WNCAN_Device *p);
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STATUS (*SetIntMask)(struct WNCAN_Device *pDev, WNCAN_IntType intMask);
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void (*EnableInt)(struct WNCAN_Device *pDev);
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void (*DisableInt)(struct WNCAN_Device *pDev);
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STATUS (*SetBitTiming)(struct WNCAN_Device *pDev,UCHAR tseg1,
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UCHAR tseg2,UCHAR brp,UCHAR sjw, BOOL numSamples);
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UINT (*GetBaudRate)(struct WNCAN_Device *pDev, UINT* samplePoint);
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WNCAN_BusStatus (*GetBusStatus)(struct WNCAN_Device *pDev);
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WNCAN_BusError (*GetBusError)(struct WNCAN_Device *pDev);
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WNCAN_IntType (*GetIntStatus)(struct WNCAN_Device *pDev,UCHAR *chnNum);
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long (*ReadID)(struct WNCAN_Device *pDev,UCHAR chnNum,
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BOOL *ext);
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STATUS (*WriteID)(struct WNCAN_Device *pDev,UCHAR chnNum,
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ULONG canID,BOOL ext);
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STATUS (*ReadData)(struct WNCAN_Device *pDev,UCHAR chnNum,
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UCHAR *data,UCHAR *len,BOOL *newData);
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int (*GetMessageLength)(struct WNCAN_Device *pDev,
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UCHAR chnNum);
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STATUS (*WriteData)(struct WNCAN_Device *pDev,UCHAR chnNum,
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UCHAR* data,UCHAR len);
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STATUS (*Tx)(struct WNCAN_Device *pDev,UCHAR chnNum);
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STATUS (*TxMsg)(struct WNCAN_Device *pDev,UCHAR chnNum,
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ULONG canId,BOOL ext,UCHAR* data,UCHAR len);
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STATUS (*SetGlobalRxFilter)(struct WNCAN_Device *pDev,
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long mask,BOOL ext);
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long (*GetGlobalRxFilter)(struct WNCAN_Device *pDev, BOOL ext);
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STATUS (*SetLocalMsgFilter)(struct WNCAN_Device *pDev,
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UCHAR channel, long mask, BOOL ext);
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long (*GetLocalMsgFilter)(struct WNCAN_Device *pDev, UCHAR channel, BOOL ext);
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int (*IsMessageLost)(struct WNCAN_Device *pDev,
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UCHAR chnNum);
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STATUS (*ClearMessageLost)(struct WNCAN_Device *pDev,
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UCHAR chnNum);
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int (*IsRTR)(struct WNCAN_Device *pDev,UCHAR chnNum);
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STATUS (*SetRTR)(struct WNCAN_Device *pDev,UCHAR chnNum, BOOL rtr);
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void (*TxAbort)(struct WNCAN_Device *pDev);
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STATUS (*Sleep)(struct WNCAN_Device *pDev);
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STATUS (*WakeUp)(struct WNCAN_Device *pDev);
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void (*pISRCallback)(struct WNCAN_Device *pDev,
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WNCAN_IntType intStatus, UCHAR chnNum);
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STATUS (*EnableChannel )(struct WNCAN_Device *pDev,
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UCHAR chnNum, WNCAN_IntType useInterrupts);
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STATUS (*DisableChannel )(struct WNCAN_Device *pDev,
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UCHAR chnNum);
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STATUS (*WriteReg)(struct WNCAN_Device *pDev, UINT offset,
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UCHAR *data, UINT length);
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STATUS (*ReadReg)(struct WNCAN_Device *pDev, UINT offset,
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UCHAR *data, UINT length);
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const char *deviceName;
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UINT deviceId;
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struct WNCAN_Controller *pCtrl;
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struct WNCAN_Board *pBrd;
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void *userData; /* user data context pointer */
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} WNCAN_DEVICE;
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/* function prototypes */
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STATUS CAN_InstallISRCallback(struct WNCAN_Device *pDev,
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void (*pFun)(struct WNCAN_Device *pDev2,
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WNCAN_IntType intStatus,UCHAR chnNum));
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struct WNCAN_Device *WNCAN_Open(UINT,UINT,UINT);
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void WNCAN_Close(struct WNCAN_Device *);
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WNCAN_ChannelMode WNCAN_GetMode(struct WNCAN_Device *pDev, UCHAR chn);
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STATUS WNCAN_SetMode(struct WNCAN_Device *pDev, UCHAR channelNum,
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WNCAN_ChannelMode mode);
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STATUS WNCAN_GetTxChannel(struct WNCAN_Device *pDev,UCHAR *chnNum);
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STATUS WNCAN_GetRxChannel(struct WNCAN_Device *pDev,UCHAR *chnNum);
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STATUS WNCAN_GetRTRRequesterChannel(struct WNCAN_Device *pDev,UCHAR *chnNum);
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STATUS WNCAN_GetRTRResponderChannel(struct WNCAN_Device *pDev,UCHAR *chnNum);
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STATUS WNCAN_FreeChannel(struct WNCAN_Device *pDev,UCHAR chnNum);
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const WNCAN_VersionInfo* WNCAN_GetVersion(void);
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void wncan_core_init(void);
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/* additional functions */
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#ifdef INCLUDE_TOUCAN
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STATUS TouCAN_SetPropseg(struct WNCAN_Device *pDev, UCHAR propseg);
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#endif
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#ifdef INCLUDE_FLEXCAN
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STATUS FlexCAN_SetPropseg(struct WNCAN_Device *pDev, UCHAR propseg);
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STATUS FlexCAN_SetIntLevel(struct WNCAN_Device *pDev, UCHAR srcNum, UCHAR intLevel, UCHAR intPriorityInLevel);
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STATUS FlexCAN_GetIntLevel(struct WNCAN_Device *pDev, UCHAR srcNum, UCHAR *intLevel, UCHAR *intPriorityInLevel);
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#endif
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/* The following Macros map the interface function calls to the implementation
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functions set by the installation routine of the device driver. */
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/* controller independent function prototypes */
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#define CAN_Open(a,b,c) WNCAN_Open(a,b,c)
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#define CAN_Close(a) WNCAN_Close(a)
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#define CAN_GetMode(a,b) WNCAN_GetMode(a,b)
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#define CAN_SetMode(a,b,c) WNCAN_SetMode(a,b,c)
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#define CAN_GetTxChannel(a,b) WNCAN_GetTxChannel(a,b)
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#define CAN_GetRxChannel(a,b) WNCAN_GetRxChannel(a,b)
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#define CAN_GetRTRResponderChannel(a,b) WNCAN_GetRTRResponderChannel(a,b)
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#define CAN_GetRTRRequesterChannel(a,b) WNCAN_GetRTRRequesterChannel(a,b)
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#define CAN_FreeChannel(a,b) WNCAN_FreeChannel(a,b)
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#define CAN_GetVersion() WNCAN_GetVersion()
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/* controller dependent function prototypes */
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#define CAN_GetBusStatus(a) a->GetBusStatus(a)
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#define CAN_GetBusError(a) a->GetBusError(a)
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#define CAN_Init(a) a->Init(a)
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#define CAN_Start(a) a->Start(a)
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#define CAN_Stop(a) a->Stop(a)
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#define CAN_SetBitTiming(a,b,c,d,e,f) a->SetBitTiming(a,b,c,d,e,f)
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#define CAN_GetBaudRate(a,b) a->GetBaudRate(a,b)
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#define CAN_SetIntMask(a,b) a->SetIntMask(a,b)
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#define CAN_EnableInt(a) a->EnableInt(a)
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#define CAN_DisableInt(a) a->DisableInt(a)
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#define CAN_ReadID(a,b,c) a->ReadID(a,b,c)
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#define CAN_WriteID(a,b,c,d) a->WriteID(a,b,c,d)
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#define CAN_ReadData(a,b,c,d,e) a->ReadData(a,b,c,d,e)
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#define CAN_GetMessageLength(a,b) a->GetMessageLength(a,b)
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#define CAN_WriteData(a,b,c,d) a->WriteData(a,b,c,d)
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#define CAN_Tx(a,b) a->Tx(a,b)
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#define CAN_TxMsg(a,b,c,d,e,f) a->TxMsg(a,b,c,d,e,f)
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#define CAN_SetGlobalRxFilter(a,b,c) a->SetGlobalRxFilter(a,b,c)
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#define CAN_GetGlobalRxFilter(a,b) a->GetGlobalRxFilter(a,b)
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#define CAN_SetLocalMsgFilter(a,b,c,d) a->SetLocalMsgFilter(a,b,c,d)
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#define CAN_GetLocalMsgFilter(a, b, c) a->GetLocalMsgFilter(a, b, c)
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#define CAN_GetIntStatus(a,b) a->GetIntStatus(a,b)
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#define CAN_IsMessageLost(a,b) a->IsMessageLost(a,b)
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#define CAN_ClearMessageLost(a,b) a->ClearMessageLost(a,b)
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#define CAN_IsRTR(a,b) a->IsRTR(a,b)
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#define CAN_SetRTR(a,b,c) a->SetRTR(a,b,c)
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#define CAN_TxAbort(a) a->TxAbort(a)
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#define CAN_Sleep(a) a->Sleep(a)
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#define CAN_WakeUp(a) a->WakeUp(a)
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#define CAN_WriteReg(a,b,c,d) a->WriteReg(a,b,c,d)
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#define CAN_ReadReg(a,b,c,d) a->ReadReg(a,b,c,d)
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#define CAN_EnableChannel(a,b,c) a->EnableChannel(a,b,c)
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#define CAN_DisableChannel(a,b) a->DisableChannel(a,b)
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/* variable access */
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#define CAN_GetXtalFreq(a) a->pBrd->xtalFreq
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#define CAN_GetControllerType(a) a->pCtrl->ctrlType
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#define CAN_GetNumChannels(a) a->pCtrl->numChn
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#define CAN_SetSjw(a,b) (a->pCtrl->sjw = b)
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#define CAN_SetBrp(a,b) (a->pCtrl->brp = b)
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#define CAN_SetTseg1(a,b) (a->pCtrl->tseg1 = b)
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#define CAN_SetTseg2(a,b) (a->pCtrl->tseg2 = b)
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#define CAN_SetNumOfSamples(a,b) (a->pCtrl->samples = b)
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/*These macros are provided for backward compatibility */
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#define I82527_SetMsgObj15RxFilter(a, b) \
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CAN_SetLocalMsgFilter(a,14,b,1)
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#define TouCAN_SetMsgObj14or15RxFilter(a,b,c,d) \
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CAN_SetLocalMsgFilter(a,d,b,c)
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#include <CAN/wncan_api.h>
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#ifdef __cplusplus
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}
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#endif /* __cplusplus */
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#endif /* WN_CAN_H */
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