Add a generic CAN driver

git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@660 42af7a65-404d-4744-a932-0658087f49c3

ChangeLog

@@ -331,6 +331,7 @@
 	* Fix a build problem with z80 and SDCC 2.7.0 (format of a map file changed)
 	  (see bug 1887170)
 	* Pascal P-Code runtime now compiles with the SDCC toolchain.
+	* Added a generic CAN driver.  This driver is untested as of this writing.
 
 
 

Documentation/NuttX.html

@@ -989,6 +989,7 @@ nuttx-0.3.8 2008-xx-xx Gregory Nutt <spudmonkey@racsa.co.cr>
 	* Fix a build problem with z80 and SDCC 2.7.0 (format of a map file changed)
 	  (see bug 1887170)
 	* Pascal P-Code runtime now compiles with the SDCC toolchain.
+	* Added a generic CAN driver.  This driver is untested as of this writing.
 
 pascal-0.1.2 2008-xx-xx Gregory Nutt <spudmonkey@racsa.co.cr>
 

TODO

@@ -10,7 +10,7 @@ NuttX TODO List (Last updated January 6, 2008)
   (11) Network (net/, netutils/)
   (2)  USB (drivers/usbdev)
   (3)  Libraries (lib/)
-  (2)  File system (fs/, drivers/)
+  (3)  File system/Generic drivers (fs/, drivers/)
   (1)  Pascal add-on (pcode/)
   (2)  Documentation (Documentation/)
   (3)  Build system
@@ -218,8 +218,8 @@ o Libraries (lib/)
   Status:      Open
   Priority:    Low
 
-o File system (fs/, drivers/)
-  ^^^^^^^^^^^^^^^^^^^^^^^^^^^
+o File system / Generic drivers (fs/, drivers/)
+  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
   Description: Add chmod(), truncate().
   Status:      Open
@@ -229,6 +229,10 @@ o File system (fs/, drivers/)
   Status:      Open
   Priority:    Medium
 
+  Desription:  The CAN driver is untested
+  Status:      Open
+  Priority:    Medium
+
 o Pascal Add-On (pcode/)
   ^^^^^^^^^^^^^^^^^^^^^^
 

drivers/Makefile

@@ -44,7 +44,7 @@ AOBJS		= $(ASRCS:.S=$(OBJEXT))
 
 CSRCS		=
 ifneq ($(CONFIG_NFILE_DESCRIPTORS),0)
-CSRCS		+= dev_null.c dev_zero.c serial.c lowconsole.c
+CSRCS		+= dev_null.c dev_zero.c serial.c lowconsole.c can.c
 endif
 CSRCS		+= $(NET_CSRCS)
 COBJS		= $(CSRCS:.c=$(OBJEXT))

include/nuttx/can.h

+/************************************************************************************
+ * include/nuttx/can.h
+ *
+ *   Copyright (C) 2008 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+
+#ifndef __NUTTX_CAN_H
+#define __NUTTX_CAN_H
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+#include <sys/types.h>
+#include <semaphore.h>
+#include <nuttx/fs.h>
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/* Default configuration settings that may be overridden in the board configuration file */
+
+#ifndef CONFIG_CAN_FIFOSIZE
+#  define CONFIG_CAN_FIFOSIZE 8
+#endif
+
+#ifndef CONFIG_CAN_NPENDINGRTR
+#  define CONFIG_CAN_NPENDINGRTR 4
+#endif
+
+/* Convenience macros */
+
+#define dev_reset(dev)            dev->cd_ops->co_reset(dev)
+#define dev_setup(dev)            dev->cd_ops->co_setup(dev)
+#define dev_shutdown(dev)         dev->cd_ops->co_shutdown(dev)
+#define dev_txint(dev,enable)     dev->cd_ops->co_txint(dev,enable)
+#define dev_rxint(dev,enable)     dev->cd_ops->co_rxint(dev,enable)
+#define dev_ioctl(dev,cmd,arg)    dev->cd_ops->co_ioctl(dev,cmd,arg)
+#define dev_remoterequest(dev,id) dev->cd_ops->co_remoterequest(dev,id)
+#define dev_send(dev,m)           dev->cd_ops->co_send(dev,m)
+#define dev_txempty(dev)          dev->cd_ops->co_txempty(dev)
+
+/* CAN message support */
+
+#define CAN_MAXDATALEN 8
+#define CAN_ID(hdr)               ((uint16)(hdr) >> 5)
+#define CAN_RTR(hdr)              (((hdr) & 0x0010) != 0)
+#define CAN_DLC(hdr)              ((hdr) & 0x0f)
+#define CAN_MSGLEN(hdr)           (sizeof(struct can_msg_s) - (CAN_MAXDATALEN - CAN_DLC(hdr)))
+
+/* Built-in ioctl commands
+ *
+ * CANIOCTL_RTR: Send the remote transmission request and wait for the response.
+ */
+
+#define CANIOCTL_RTR              1 /* Argument is a reference to struct canioctl_rtr_s */
+
+/* CANIOCTL_USER: Device specific ioctl calls can be supported with cmds greater
+ * than this value
+ */
+
+#define CANIOCTL_USER             2
+
+/************************************************************************************
+ * Private Types
+ ************************************************************************************/
+/* CAN-message Format
+ *
+ * One CAN-message consists of a maximum of 10 bytes.  A message is composed of at
+ * least the first 2 bytes (when there are no data bytes).
+ *
+ * Byte 0:      Bits 0-7: Bits 3-10 of the 11-bit CAN identifier
+ * Byte 1:      Bits 5-7: Bits 0-2 of the 11-bit CAN identifier
+ *              Bit 4:    Remote Tranmission Request (RTR)
+ *              Bits 0-3: Data Length Code (DLC)
+ * Bytes 2-10: CAN data
+ *
+ * The struct can_msg_s holds this information in a user-friendly, unpacked form.
+ * This is the form that is used at the read() and write() driver interfaces.  The
+ * message structure is actually variable length -- the true length is given by
+ * the CAN_MSGLEN macro.
+ */
+
+struct can_msg_s
+{
+  uint16        cm_hdr;                  /* The 16-bit CAN header */
+  ubyte         cm_data[CAN_MAXDATALEN]; /* CAN message data (0-8 byte) */
+};
+
+/* This structure defines a CAN message FIFO. */
+
+struct can_fifo_s
+{
+  sem_t         cf_sem;                  /* Counting semaphore */
+  ubyte         cf_head;                 /* Index to the head [IN] index in the circular buffer */
+  ubyte         cf_tail;                 /* Index to the tail [OUT] index in the circular buffer */
+                                         /* Circular buffer of CAN messages */
+  struct can_msg_s cf_buffer[CONFIG_CAN_FIFOSIZE];
+};
+
+/* The following structure define the logic to handle one RTR message transaction */
+
+struct can_rtrwait_s
+{
+  sem_t         cr_sem;                  /* Wait for RTR response */
+  uint16        cr_id;                   /* The ID that is waited for */
+  FAR struct can_msg_s *cr_msg;          /* This is where the RTR reponse goes */
+};
+
+/* This structure defines all of the operations providd by the architecture specific
+ * logic.  All fields must be provided with non-NULL function pointers by the
+ * caller of can_register().
+ */
+
+struct can_dev_s;
+struct can_ops_s
+{
+  /* Reset the CAN device.  Called early to initialize the hardware. This
+   * is called, before co_setup() and on error conditions.
+   */
+
+  CODE void (*co_reset)(FAR struct can_dev_s *dev);
+
+  /* Configure the CAN. This method is called the first time that the CAN
+   * device is opened.  This will occur when the port is first opened. 
+   * This setup includes configuring and attaching CAN interrupts.  Interrupts
+   * are all disabled upon return.
+   */
+
+  CODE int (*co_setup)(FAR struct can_dev_s *dev);
+
+  /* Disable the CAN.  This method is called when the CAN device is closed.
+   * This method reverses the operation the setup method.
+   */
+
+  CODE void (*co_shutdown)(FAR struct can_dev_s *dev);
+
+  /* Call to enable or disable RX interrupts */
+
+  CODE void (*co_rxint)(FAR struct can_dev_s *dev, boolean enable);
+
+  /* Call to enable or disable TX interrupts */
+
+  CODE void (*co_txint)(FAR struct can_dev_s *dev, boolean enable);
+
+  /* All ioctl calls will be routed through this method */
+
+  CODE int (*co_ioctl)(FAR struct can_dev_s *dev, int cmd, unsigned long arg);
+
+  /* Send a remote request */
+
+  CODE int (*co_remoterequest)(FAR struct can_dev_s *dev, uint16 id);
+
+  /* This method will send one message on the CAN */
+
+  CODE int (*co_send)(FAR struct can_dev_s *dev, FAR struct can_msg_s *msg);
+
+  /* Return TRUE if all message have been sent.  If for example, the CAN
+   * hardware implements FIFOs, then this would mean the the transmit FIFO is
+   * empty.  This method is called when the driver needs to make sure that
+   * all characters are "drained" from the TX hardware before calling co_shutdown().
+   */
+
+  CODE boolean (*co_txempty)(FAR struct can_dev_s *dev);
+};
+
+/* This is the device structure used by the driver.  The caller of
+ * can_register() must allocate and initialize this structure.  The
+ * calling logic need only set all fields to zero except:
+ *
+ *   The elements of 'cd_ops', and 'cd_priv'
+ *
+ * The common logic will initialize all semaphores.
+ */
+
+struct can_dev_s
+{
+  int                  cd_ocount;        /* The number of times the device has been opened */
+  int                  cd_npendrtr;      /* Number of pending RTR messages */
+  sem_t                cd_closesem;      /* Locks out new opens while close is in progress */
+  sem_t                cd_recvsem;       /* Used to wakeup user waiting for space in cd_recv.buffer */
+  struct can_fifo_s    cd_xmit;          /* Describes transmit FIFO */
+  struct can_fifo_s    cd_recv;          /* Describes receive FIFO */
+                                         /* List of pending RTR requests */
+  struct can_rtrwait_s cd_rtr[CONFIG_CAN_NPENDINGRTR];
+  FAR const struct can_ops_s *cd_ops;    /* Arch-specific operations */
+  FAR void            *cd_priv;          /* Used by the arch-specific logic */
+};
+
+/* Structures used with ioctl calls */
+
+struct canioctl_rtr_s
+{
+  uint16                ci_id;           /* The ID to use in the RTR message */
+  FAR struct can_msg_s *ci_msg;          /* The location to return the RTR response */
+};
+
+/************************************************************************************
+ * Public Data
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+#undef EXTERN
+#if defined(__cplusplus)
+#define EXTERN extern "C"
+extern "C" {
+#else
+#define EXTERN extern
+#endif
+
+/************************************************************************************
+ * Name: can_register
+ *
+ * Description:
+ *   Register serial console and serial ports.
+ *
+ ************************************************************************************/
+
+EXTERN int can_register(FAR const char *path, FAR struct can_dev_s *dev);
+
+/************************************************************************************
+ * Name: can_receive
+ *
+ * Description:
+ *   Called from the CAN interrupt handler when new read data is available
+ *
+ * Parameters:
+ *   dev  - The specifi CAN device
+ *   hdr  - The 16-bit CAN header
+ *   data - An array contain the CAN data.
+ *
+ * Return:
+ *   OK on success; a negated errno on failure.
+ *
+ ************************************************************************************/
+
+EXTERN int can_receive(FAR struct can_dev_s *dev, uint16 hdr, FAR ubyte *data);
+
+/************************************************************************************
+ * Name: can_txdone
+ *
+ * Description:
+ *   Called from the CAN interrupt handler at the completion of a send operation.
+ *
+ * Parameters:
+ *   dev  - The specifi CAN device
+ *   hdr  - The 16-bit CAN header
+ *   data - An array contain the CAN data.
+ *
+ * Return:
+ *   OK on success; a negated errno on failure.
+ *
+ ************************************************************************************/
+
+EXTERN int can_txdone(FAR struct can_dev_s *dev);
+
+#undef EXTERN
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* __NUTTX_CAN_H */

include/nuttx/serial.h

@@ -171,7 +171,7 @@ struct uart_ops_s
  * uart_register() must allocate and initialize this structure.  The
  * calling logic need only set all fields to zero except:
  *
- *   'irq', 'isconsole', 'xmit.buffer', 'rcv.buffer', the elements
+ *   'isconsole', 'xmit.buffer', 'rcv.buffer', the elements
  *   of 'ops', and 'private'
  *
  * The common logic will initialize all semaphores.