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/* wncanDevIO.h - WIND NET CAN Device I/O Interface header file. */
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/* Copyright 2002-2003 Wind River Systems, Inc. */
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#include "copyright_wrs.h"
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/*
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modification history
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--------------------
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01e,20sep04,lsg Gave enum to setFuncSwitch an identifier
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01d,17jul04,lsg Modified _wncan_ctlrconfig to access multiple ctrlSetConfig
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functions for FlexCAN
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01c,08apr04,lsg Added FlexCAN related info to WNCAN_CTLRCONFIG
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01b,21apr04,bjn Added WNCAN_REG, WNCAN_REG_SET and WNCAN_REG_GET
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01a,19Dec02,emcw created
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*/
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/*
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DESCRIPTION
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This file contains the type and function definitions of the Device I/O Interface feature
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of WIND NET CAN.
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NOTE
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RESTRICTIONS
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INCLUDE FILES
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CAN/wnCAN.h
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*/
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#ifndef __INCwncanDevIOh
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#define __INCwncanDevIOh
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* ==== Include files ==== */
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#include <vxWorks.h>
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#include <iosLib.h>
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#include <rngLib.h>
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#include <semLib.h>
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#include <selectLib.h>
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#include <string.h>
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#include <CAN/wnCAN.h>
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/* ==== Constants ==== */
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#define WNCAN_LG_BUF_SIZE 200
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#define WNCAN_MAX_DATA_LEN 8 /* max #bytes in CAN message data */
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#define WNCAN_DEFAULT_RINGBUF_SIZE 4 /* default #CAN msgs in internal buffers */
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/* ==== WNCAN DevIO interface ioctl() commands ==== */
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/* Base command code */
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#define DEVIO_CANCMD_BASE 100
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/* Device commands */
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#define WNCAN_HALT (DEVIO_CANCMD_BASE + 1)
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#define WNCAN_SLEEP (DEVIO_CANCMD_BASE + 2)
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#define WNCAN_WAKE (DEVIO_CANCMD_BASE + 3)
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#define WNCAN_TX_ABORT (DEVIO_CANCMD_BASE + 4)
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#define WNCAN_RXCHAN_GET (DEVIO_CANCMD_BASE + 5)
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#define WNCAN_TXCHAN_GET (DEVIO_CANCMD_BASE + 6)
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#define WNCAN_RTRREQCHAN_GET (DEVIO_CANCMD_BASE + 7)
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#define WNCAN_RTRRESPCHAN_GET (DEVIO_CANCMD_BASE + 8)
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#define WNCAN_BUSINFO_GET (DEVIO_CANCMD_BASE + 9)
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#define WNCAN_CONFIG_SET (DEVIO_CANCMD_BASE + 10)
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#define WNCAN_CONFIG_GET (DEVIO_CANCMD_BASE + 11)
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/* Channel commands */
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#define WNCAN_CHNCONFIG_SET (DEVIO_CANCMD_BASE + 12)
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#define WNCAN_CHNCONFIG_GET (DEVIO_CANCMD_BASE + 13)
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#define WNCAN_CHN_ENABLE (DEVIO_CANCMD_BASE + 14)
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#define WNCAN_CHN_TX (DEVIO_CANCMD_BASE + 15)
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#define WNCAN_CHNMSGLOST_GET (DEVIO_CANCMD_BASE + 16)
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#define WNCAN_CHNMSGLOST_CLEAR (DEVIO_CANCMD_BASE + 17)
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/* Controller-specific commands */
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#define WNCAN_CTLRCONFIG_SET (DEVIO_CANCMD_BASE + 18)
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#define WNCAN_CTLRCONFIG_GET (DEVIO_CANCMD_BASE + 19)
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/* Additinal Device commands */
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#define WNCAN_REG_SET (DEVIO_CANCMD_BASE + 20)
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#define WNCAN_REG_GET (DEVIO_CANCMD_BASE + 21)
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/* ==== CAN configuration access options ==== */
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/*
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CAN device options
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Used in flags field of WNCAN_CONFIG struct
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*/
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#define WNCAN_CFG_NONE 0 /* selects no elements */
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#define WNCAN_CFG_INFO 0x1 /* selects information elements only */
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#define WNCAN_CFG_GBLFILTER 0x2 /* selects global filter only */
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#define WNCAN_CFG_BITTIMING 0x4 /* selects bit timing only */
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#define WNCAN_CFG_ALL 0x7 /* selects all elements */
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/*
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CAN channel options
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Used in flags field of WNCAN_CHNCONFIG struct
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*/
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#define WNCAN_CHNCFG_NONE 0x000 /* selects no elements */
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#define WNCAN_CHNCFG_CHANNEL 0x100 /* selects channel information only */
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#define WNCAN_CHNCFG_LCLFILTER 0x200 /* selects local filter only */
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#define WNCAN_CHNCFG_RTR 0x400 /* selects RTR bit only */
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#define WNCAN_CHNCFG_MODE 0x800 /* selects channel mode only */
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#define WNCAN_CHNCFG_ALL 0xF00 /* selects all elements */
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/* ==== Structures used for setting/getting CAN configuration ==== */
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/* CAN bus information */
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typedef struct _wncan_businfo
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{
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WNCAN_BusStatus busStatus; /* bus status */
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WNCAN_BusError busError; /* bus error */
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} WNCAN_BUSINFO;
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/* CAN device configuration options */
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typedef struct _wncan_config
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{
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UINT flags; /* access options */
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/* read-only items */
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struct
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{
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WNCAN_VersionInfo version; /* WNC version */
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WNCAN_ControllerType ctrlType; /* CAN controller type */
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XtalFreq xtalfreq; /* crystal frequency */
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UCHAR numChannels; /* total # of channels */
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UINT baudRate; /* computed baudrate bits/sec */
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UINT samplePoint; /* percentage of bit time at
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which the bit is sampled.*/
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} info;
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/* read/write items */
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struct
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{
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ULONG mask; /* filter mask */
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BOOL extended; /* extended flag */
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} filter;
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struct
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{
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UCHAR tseg1; /* time quanta for segment 1 */
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UCHAR tseg2; /* time quanta for segment 2 */
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UCHAR brp; /* baud rate prescaler */
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UCHAR sjw; /* syncro jump width */
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BOOL oversample; /* normal or over-sampling option */
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} bittiming;
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} WNCAN_CONFIG;
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/* CAN device register get/set configuration */
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typedef struct _wncan_reg
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{
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UINT offset; /* Register offset from base to access */
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UCHAR * pData; /* Pointer to data buffer for read/write */
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UINT length; /* Length of data in bytes to read/write */
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} WNCAN_REG;
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/* CAN channel configuration options */
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typedef struct _wncan_chnconfig
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{
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UINT flags; /* access options */
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/* local filter mask */
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struct
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{
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ULONG mask; /* filter mask */
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BOOL extended; /* extended flag */
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} filter;
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struct
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{
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ULONG id; /* CAN ID */
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BOOL extId; /* is ID extended or not? */
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UCHAR len; /* length */
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UCHAR data[WNCAN_MAX_DATA_LEN]; /* message data */
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} channel;
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BOOL rtr; /* RTR bit setting */
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WNCAN_ChannelMode mode; /* channel mode */
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} WNCAN_CHNCONFIG;
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/* CAN controller-specific configuration options */
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typedef struct _wncan_ctlrconfig
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{
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WNCAN_ControllerType ctlrType;
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union
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{
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struct
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{
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UCHAR propseg; /* propagation segment */
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} toucanData;
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struct
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{
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struct intLevelInfo_t{
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UCHAR intSrcNum; /*flexcan interrupt source number, always an input for WNCAN_CTLRCONFIG_SET
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and WNCAN_CTLRCONFIG_GET */
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UCHAR intLevel; /*flexcan interrupt level, for WNCAN_CTLRCONFIG_SET: input,
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for WNCAN_CTLRCONFIG_GET: output */
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UCHAR intPrioLevel;/* priority within interrupt level, for WNCAN_CTLRCONFIG_SET: input,
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for WNCAN_CTLRCONFIG_GET: output */
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} intLevelInfo;
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UCHAR propseg;
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enum setFuncSwitch_t{
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WNCAN_FLEXCAN_DEVIO_SET_INTLEVEL=0,
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WNCAN_FLEXCAN_DEVIO_SET_PROPSEG
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}setFuncSwitch;
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} flexcanData;
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/* Other controller-specific structs can be defined here */
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ULONG dummy; /* placeholder for future defs */
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} ctlrData;
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} WNCAN_CTLRCONFIG;
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/* CAN message */
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typedef struct _wncan_chnmsg
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{
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ULONG id; /* CAN ID */
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BOOL extId; /* is ID extended or not? */
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BOOL rtr; /* remote frame transmit request */
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UCHAR len; /* message length */
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UCHAR data[WNCAN_MAX_DATA_LEN]; /* message data */
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} WNCAN_CHNMSG;
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/* ==== Internal Device I/O Structures (maybe move to private header file?) ==== */
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typedef enum
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{
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FD_WNCAN_NONE,
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FD_WNCAN_DEVICE,
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FD_WNCAN_CHANNEL
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} WNCAN_FD_TYPE;
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typedef STATUS (*CTRLRCONFIGFNTYPE)(void*, void*);
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typedef struct /* DevIO driver information */
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{
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DEV_HDR devHdr; /* standard I/O System device header */
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WNCAN_BoardType boardType; /* CAN board type */
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int boardIdx; /* CAN board index */
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int ctlrIdx; /* CAN controller index */
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int numOpenChans; /* number of open CAN channels */
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BOOL isDeviceOpen; /* whether CAN device has been init'ed;
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set after CAN_Init() called */
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SEM_ID mutex; /* mutex semaphore for memory access */
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WNCAN_DEVICE *wncDevice; /* WNCAN device data structure */
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CTRLRCONFIGFNTYPE ctrlSetConfig; /* controller-specific functions */
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CTRLRCONFIGFNTYPE ctrlGetConfig;
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} WNCAN_DEVIO_DRVINFO;
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typedef struct _devio_fdinfo /* DevIO file descriptor table info */
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{
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WNCAN_DEVIO_DRVINFO* wnDevIODrv; /* pointer to WNCAN_DEVIO_DRVINFO struct */
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WNCAN_FD_TYPE devType; /* indicates which type of data stored here,
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device or channel */
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SEL_WAKEUP_LIST selWakeupList; /* wakeup select list */
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union
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{
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/* CAN device info */
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struct {
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struct _devio_fdinfo **chnInfo; /* allocated channel infos */
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} device;
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/* CAN channel info */
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struct {
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BOOL enabled; /* channel up and running flag */
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int flag; /* channel access flag */
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ULONG channel; /* channel identifier */
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WNCAN_IntType intType; /* interrupt status type, WNCAN_INT_TX
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or WNCAN_INT_RX */
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RING_ID inputBuf; /* input data buffer */
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RING_ID outputBuf; /* output data buffer */
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} channel;
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} fdtype;
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} WNCAN_DEVIO_FDINFO;
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/* ==== Function Prototypes ==== */
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#if defined(__STDC__)
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extern STATUS wncDevIODevCreate(char*,int,int,int,WNCAN_DEVIO_DRVINFO**);
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extern int wncDevIOCreate(WNCAN_DEVIO_DRVINFO*, char*, int);
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extern int wncDevIODelete(WNCAN_DEVIO_DRVINFO*, char*);
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extern int wncDevIOOpen(WNCAN_DEVIO_DRVINFO*, char*, int, int);
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extern STATUS wncDevIOClose(WNCAN_DEVIO_FDINFO*);
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extern int wncDevIOReadBuf(WNCAN_DEVIO_FDINFO*, char*, size_t);
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extern int wncDevIOWriteBuf(WNCAN_DEVIO_FDINFO*, char*, size_t);
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STATUS wncDevIOIoctl(WNCAN_DEVIO_FDINFO*, int, int);
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#else
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extern STATUS wncDevIODevCreate();
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extern int wncDevIOCreate();
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extern int wncDevIODelete();
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extern int wncDevIOOpen();
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extern STATUS wncDevIOClose();
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extern int wncDevIOReadBuf();
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extern int wncDevIOWriteBuf();
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STATUS wncDevIOIoctl();
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#endif
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#ifdef __cplusplus
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}
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#endif
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#endif /* __INCwncanDevIOh */
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