From: Wolfgang Grandegger wg@denx.de
Signed-off-by: Wolfgang Grandegger wg@denx.de --- Makefile | 1 + drivers/can/Makefile | 47 ++++++++++++++++++++++++++ drivers/can/can.c | 88 ++++++++++++++++++++++++++++++++++++++++++++++++++ include/can.h | 70 +++++++++++++++++++++++++++++++++++++++ 4 files changed, 206 insertions(+), 0 deletions(-) create mode 100644 drivers/can/Makefile create mode 100644 drivers/can/can.c create mode 100644 include/can.h
diff --git a/Makefile b/Makefile index bcb3fe9..dca15e0 100644 --- a/Makefile +++ b/Makefile @@ -203,6 +203,7 @@ LIBS += net/libnet.a LIBS += disk/libdisk.a LIBS += drivers/bios_emulator/libatibiosemu.a LIBS += drivers/block/libblock.a +LIBS += drivers/can/libcan.a LIBS += drivers/dma/libdma.a LIBS += drivers/fpga/libfpga.a LIBS += drivers/gpio/libgpio.a diff --git a/drivers/can/Makefile b/drivers/can/Makefile new file mode 100644 index 0000000..74d2ff5 --- /dev/null +++ b/drivers/can/Makefile @@ -0,0 +1,47 @@ +# +# Copyright 2000-2008 +# Wolfgang Denk, DENX Software Engineering, wd@denx.de. +# +# See file CREDITS for list of people who contributed to this +# project. +# +# This program is free software; you can redistribute it and/or +# modify it under the terms of the GNU General Public License as +# published by the Free Software Foundation; either version 2 of +# the License, or (at your option) any later version. +# +# This program is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with this program; if not, write to the Free Software +# Foundation, Inc., 59 Temple Place, Suite 330, Boston, +# MA 02111-1307 USA +# + +include $(TOPDIR)/config.mk + +LIB := $(obj)libcan.a + +COBJS-$(CONFIG_CAN) += can.o + +COBJS := $(COBJS-y) +SRCS := $(COBJS:.o=.c) +OBJS := $(addprefix $(obj),$(COBJS)) + +all: $(LIB) + +$(LIB): $(obj).depend $(OBJS) + $(AR) $(ARFLAGS) $@ $(OBJS) + + +######################################################################### + +# defines $(obj).depend target +include $(SRCTREE)/rules.mk + +sinclude $(obj).depend + +######################################################################## diff --git a/drivers/can/can.c b/drivers/can/can.c new file mode 100644 index 0000000..c09bccf --- /dev/null +++ b/drivers/can/can.c @@ -0,0 +1,88 @@ +/* + * (C) Copyright 2007-2009, Wolfgang Grandegger wg@denx.de + * + * See file CREDITS for list of people who contributed to this + * project. + * + * This program is free software; you can redistribute it and/or + * modify it under the terms of the GNU General Public License as + * published by the Free Software Foundation; either version 2 of + * the License, or (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, + * MA 02111-1307 USA + */ + +/* + * CAN device interface library + */ +#include <common.h> +#include <command.h> +#include <can.h> + +static struct can_dev *can_devs; + +static char *baudrates[] = { "125K", "250K", "500K" }; + +int can_register (struct can_dev* can_dev) +{ + struct can_dev* dev; + + can_dev->next = NULL; + if (!can_devs) + can_devs = can_dev; + else { + for (dev = can_devs; dev->next; dev = dev->next) + ; + dev->next = can_dev; + } + + printf ("CAN: %s at %lx registered\n", can_dev->name, can_dev->base); + + return 0; +} + +struct can_dev *can_init (int dev_num, int ibaud) +{ + struct can_dev *dev; + int i; + + if (!can_devs) { + puts ("No CAN devices registered\n"); + return NULL; + } + + /* Advance to selected device */ + for (i = 0, dev = can_devs; dev; i++, dev = dev->next) { + if (i == dev_num) + break; + } + + if (!dev) { + printf ("CAN device %d does not exist\n", dev_num); + return NULL; + } + + printf ("Initializing CAN%d at 0x%08x with baudrate %s\n", + i, dev->base, baudrates[ibaud]); + + dev->init (dev, ibaud); + + return dev; +} + +void can_list (void) +{ + struct can_dev *dev; + int i; + + for (i = 0, dev = can_devs; dev; i++, dev = dev->next) + printf ("CAN%d: %s at 0x%p\n", i, dev->name, dev->base); +} diff --git a/include/can.h b/include/can.h new file mode 100644 index 0000000..5f5c3c1 --- /dev/null +++ b/include/can.h @@ -0,0 +1,70 @@ +/* + * (C) Copyright 2007-2009, Wolfgang Grandegger wg@denx.de + * + * See file CREDITS for list of people who contributed to this + * project. + * + * This program is free software; you can redistribute it and/or + * modify it under the terms of the GNU General Public License as + * published by the Free Software Foundation; either version 2 of + * the License, or (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, + * MA 02111-1307 USA + */ + +#ifndef __CAN_H__ +#define __CAN_H__ + +#define CAN_XMIT_TIMEOUT_US 1000000 + +#define CAN_EFF_MASK 0x1FFFFFFF +#define CAN_SFF_MASK 0x000007FF + +#define CAN_EFF_FLAG 0x80000000 +#define CAN_RTR_FLAG 0x40000000 + +struct can_msg { + u32 id; + u8 data[8]; + u8 dlc; + u8 flags; +}; + +struct can_dev { + char *name; + unsigned long base; + int (*init) (struct can_dev *dev, unsigned int ibaud); + int (*xmit) (struct can_dev *dev, struct can_msg *msg); + int (*recv) (struct can_dev *dev, struct can_msg *msg); + int (*status) (struct can_dev *dev, int level); + struct can_dev *next; +}; + +static inline int can_status (struct can_dev *dev, int level) +{ + return dev->status (dev, level); +} + +static inline int can_recv (struct can_dev *dev, struct can_msg *msg) +{ + return dev->recv (dev, msg); +} + +static inline int can_xmit (struct can_dev *dev, struct can_msg *msg) +{ + return dev->xmit (dev, msg); +} + +int can_register (struct can_dev* dev); +struct can_dev *can_init (int dev_nr, int ibaud); +void can_list (void); + +#endif /* __CAN_H__ */