971 lines
28 KiB
C
971 lines
28 KiB
C
/*
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* Copyright (c) 2006-2021, RT-Thread Development Team
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Change Logs:
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* Date Author Notes
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* 2015-05-14 aubrcool@qq.com first version
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* 2015-07-06 Bernard code cleanup and remove RT_CAN_USING_LED;
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*/
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#include <rthw.h>
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#include <rtthread.h>
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#include <rtdevice.h>
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#define CAN_LOCK(can) rt_mutex_take(&(can->lock), RT_WAITING_FOREVER)
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#define CAN_UNLOCK(can) rt_mutex_release(&(can->lock))
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static rt_err_t rt_can_init(struct rt_device *dev)
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{
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rt_err_t result = RT_EOK;
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struct rt_can_device *can;
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RT_ASSERT(dev != RT_NULL);
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can = (struct rt_can_device *)dev;
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/* initialize rx/tx */
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can->can_rx = RT_NULL;
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can->can_tx = RT_NULL;
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#ifdef RT_CAN_USING_HDR
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can->hdr = RT_NULL;
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#endif
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/* apply configuration */
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if (can->ops->configure)
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result = can->ops->configure(can, &can->config);
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else
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result = -RT_ENOSYS;
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return result;
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}
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/*
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* can interrupt routines
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*/
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rt_inline int _can_int_rx(struct rt_can_device *can, struct rt_can_msg *data, int msgs)
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{
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int size;
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struct rt_can_rx_fifo *rx_fifo;
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RT_ASSERT(can != RT_NULL);
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size = msgs;
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rx_fifo = (struct rt_can_rx_fifo *) can->can_rx;
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RT_ASSERT(rx_fifo != RT_NULL);
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/* read from software FIFO */
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while (msgs)
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{
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rt_base_t level;
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#ifdef RT_CAN_USING_HDR
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rt_int8_t hdr;
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#endif /*RT_CAN_USING_HDR*/
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struct rt_can_msg_list *listmsg = RT_NULL;
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/* disable interrupt */
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level = rt_hw_interrupt_disable();
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#ifdef RT_CAN_USING_HDR
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hdr = data->hdr;
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if (hdr >= 0 && can->hdr && hdr < can->config.maxhdr && !rt_list_isempty(&can->hdr[hdr].list))
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{
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listmsg = rt_list_entry(can->hdr[hdr].list.next, struct rt_can_msg_list, hdrlist);
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rt_list_remove(&listmsg->list);
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rt_list_remove(&listmsg->hdrlist);
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if (can->hdr[hdr].msgs)
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{
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can->hdr[hdr].msgs--;
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}
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listmsg->owner = RT_NULL;
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}
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else if (hdr == -1)
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#endif /*RT_CAN_USING_HDR*/
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{
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if (!rt_list_isempty(&rx_fifo->uselist))
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{
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listmsg = rt_list_entry(rx_fifo->uselist.next, struct rt_can_msg_list, list);
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rt_list_remove(&listmsg->list);
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#ifdef RT_CAN_USING_HDR
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rt_list_remove(&listmsg->hdrlist);
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if (listmsg->owner != RT_NULL && listmsg->owner->msgs)
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{
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listmsg->owner->msgs--;
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}
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listmsg->owner = RT_NULL;
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#endif /*RT_CAN_USING_HDR*/
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}
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else
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{
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/* no data, enable interrupt and break out */
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rt_hw_interrupt_enable(level);
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break;
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}
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}
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/* enable interrupt */
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rt_hw_interrupt_enable(level);
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if (listmsg != RT_NULL)
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{
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rt_memcpy(data, &listmsg->data, sizeof(struct rt_can_msg));
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level = rt_hw_interrupt_disable();
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rt_list_insert_before(&rx_fifo->freelist, &listmsg->list);
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rx_fifo->freenumbers++;
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RT_ASSERT(rx_fifo->freenumbers <= can->config.msgboxsz);
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rt_hw_interrupt_enable(level);
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listmsg = RT_NULL;
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}
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else
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{
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break;
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}
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data ++;
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msgs -= sizeof(struct rt_can_msg);
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}
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return (size - msgs);
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}
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rt_inline int _can_int_tx(struct rt_can_device *can, const struct rt_can_msg *data, int msgs)
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{
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int size;
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struct rt_can_tx_fifo *tx_fifo;
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RT_ASSERT(can != RT_NULL);
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size = msgs;
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tx_fifo = (struct rt_can_tx_fifo *) can->can_tx;
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RT_ASSERT(tx_fifo != RT_NULL);
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while (msgs)
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{
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rt_base_t level;
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rt_uint32_t no;
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rt_uint32_t result;
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struct rt_can_sndbxinx_list *tx_tosnd = RT_NULL;
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rt_sem_take(&(tx_fifo->sem), RT_WAITING_FOREVER);
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level = rt_hw_interrupt_disable();
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tx_tosnd = rt_list_entry(tx_fifo->freelist.next, struct rt_can_sndbxinx_list, list);
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RT_ASSERT(tx_tosnd != RT_NULL);
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rt_list_remove(&tx_tosnd->list);
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rt_hw_interrupt_enable(level);
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no = ((rt_uint32_t)tx_tosnd - (rt_uint32_t)tx_fifo->buffer) / sizeof(struct rt_can_sndbxinx_list);
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tx_tosnd->result = RT_CAN_SND_RESULT_WAIT;
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if (can->ops->sendmsg(can, data, no) != RT_EOK)
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{
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/* send failed. */
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level = rt_hw_interrupt_disable();
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rt_list_insert_after(&tx_fifo->freelist, &tx_tosnd->list);
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rt_hw_interrupt_enable(level);
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rt_sem_release(&(tx_fifo->sem));
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continue;
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}
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can->status.sndchange = 1;
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rt_completion_wait(&(tx_tosnd->completion), RT_WAITING_FOREVER);
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level = rt_hw_interrupt_disable();
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result = tx_tosnd->result;
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if (!rt_list_isempty(&tx_tosnd->list))
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{
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rt_list_remove(&tx_tosnd->list);
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}
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rt_list_insert_before(&tx_fifo->freelist, &tx_tosnd->list);
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rt_hw_interrupt_enable(level);
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rt_sem_release(&(tx_fifo->sem));
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if (result == RT_CAN_SND_RESULT_OK)
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{
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level = rt_hw_interrupt_disable();
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can->status.sndpkg++;
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rt_hw_interrupt_enable(level);
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data ++;
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msgs -= sizeof(struct rt_can_msg);
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if (!msgs) break;
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}
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else
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{
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level = rt_hw_interrupt_disable();
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can->status.dropedsndpkg++;
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rt_hw_interrupt_enable(level);
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break;
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}
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}
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return (size - msgs);
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}
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rt_inline int _can_int_tx_priv(struct rt_can_device *can, const struct rt_can_msg *data, int msgs)
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{
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int size;
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rt_base_t level;
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rt_uint32_t no, result;
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struct rt_can_tx_fifo *tx_fifo;
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RT_ASSERT(can != RT_NULL);
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size = msgs;
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tx_fifo = (struct rt_can_tx_fifo *) can->can_tx;
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RT_ASSERT(tx_fifo != RT_NULL);
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while (msgs)
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{
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no = data->priv;
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if (no >= can->config.sndboxnumber)
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{
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break;
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}
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level = rt_hw_interrupt_disable();
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if ((tx_fifo->buffer[no].result != RT_CAN_SND_RESULT_OK))
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{
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rt_hw_interrupt_enable(level);
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rt_completion_wait(&(tx_fifo->buffer[no].completion), RT_WAITING_FOREVER);
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continue;
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}
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tx_fifo->buffer[no].result = RT_CAN_SND_RESULT_WAIT;
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rt_hw_interrupt_enable(level);
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if (can->ops->sendmsg(can, data, no) != RT_EOK)
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{
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continue;
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}
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can->status.sndchange = 1;
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rt_completion_wait(&(tx_fifo->buffer[no].completion), RT_WAITING_FOREVER);
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result = tx_fifo->buffer[no].result;
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if (result == RT_CAN_SND_RESULT_OK)
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{
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level = rt_hw_interrupt_disable();
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can->status.sndpkg++;
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rt_hw_interrupt_enable(level);
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data ++;
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msgs -= sizeof(struct rt_can_msg);
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if (!msgs) break;
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}
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else
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{
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level = rt_hw_interrupt_disable();
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can->status.dropedsndpkg++;
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rt_hw_interrupt_enable(level);
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break;
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}
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}
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return (size - msgs);
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}
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static rt_err_t rt_can_open(struct rt_device *dev, rt_uint16_t oflag)
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{
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struct rt_can_device *can;
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char tmpname[16];
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RT_ASSERT(dev != RT_NULL);
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can = (struct rt_can_device *)dev;
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CAN_LOCK(can);
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/* get open flags */
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dev->open_flag = oflag & 0xff;
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if (can->can_rx == RT_NULL)
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{
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if (oflag & RT_DEVICE_FLAG_INT_RX)
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{
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int i = 0;
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struct rt_can_rx_fifo *rx_fifo;
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rx_fifo = (struct rt_can_rx_fifo *) rt_malloc(sizeof(struct rt_can_rx_fifo) +
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can->config.msgboxsz * sizeof(struct rt_can_msg_list));
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RT_ASSERT(rx_fifo != RT_NULL);
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rx_fifo->buffer = (struct rt_can_msg_list *)(rx_fifo + 1);
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rt_memset(rx_fifo->buffer, 0, can->config.msgboxsz * sizeof(struct rt_can_msg_list));
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rt_list_init(&rx_fifo->freelist);
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rt_list_init(&rx_fifo->uselist);
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rx_fifo->freenumbers = can->config.msgboxsz;
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for (i = 0; i < can->config.msgboxsz; i++)
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{
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rt_list_insert_before(&rx_fifo->freelist, &rx_fifo->buffer[i].list);
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#ifdef RT_CAN_USING_HDR
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rt_list_init(&rx_fifo->buffer[i].hdrlist);
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rx_fifo->buffer[i].owner = RT_NULL;
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#endif
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}
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can->can_rx = rx_fifo;
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dev->open_flag |= RT_DEVICE_FLAG_INT_RX;
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/* open can rx interrupt */
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can->ops->control(can, RT_DEVICE_CTRL_SET_INT, (void *)RT_DEVICE_FLAG_INT_RX);
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}
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}
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if (can->can_tx == RT_NULL)
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{
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if (oflag & RT_DEVICE_FLAG_INT_TX)
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{
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int i = 0;
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struct rt_can_tx_fifo *tx_fifo;
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tx_fifo = (struct rt_can_tx_fifo *) rt_malloc(sizeof(struct rt_can_tx_fifo) +
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can->config.sndboxnumber * sizeof(struct rt_can_sndbxinx_list));
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RT_ASSERT(tx_fifo != RT_NULL);
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tx_fifo->buffer = (struct rt_can_sndbxinx_list *)(tx_fifo + 1);
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rt_memset(tx_fifo->buffer, 0,
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can->config.sndboxnumber * sizeof(struct rt_can_sndbxinx_list));
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rt_list_init(&tx_fifo->freelist);
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for (i = 0; i < can->config.sndboxnumber; i++)
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{
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rt_list_insert_before(&tx_fifo->freelist, &tx_fifo->buffer[i].list);
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rt_completion_init(&(tx_fifo->buffer[i].completion));
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tx_fifo->buffer[i].result = RT_CAN_SND_RESULT_OK;
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}
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rt_sprintf(tmpname, "%stl", dev->parent.name);
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rt_sem_init(&(tx_fifo->sem), tmpname, can->config.sndboxnumber, RT_IPC_FLAG_FIFO);
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can->can_tx = tx_fifo;
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dev->open_flag |= RT_DEVICE_FLAG_INT_TX;
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/* open can tx interrupt */
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can->ops->control(can, RT_DEVICE_CTRL_SET_INT, (void *)RT_DEVICE_FLAG_INT_TX);
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}
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}
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can->ops->control(can, RT_DEVICE_CTRL_SET_INT, (void *)RT_DEVICE_CAN_INT_ERR);
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#ifdef RT_CAN_USING_HDR
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if (can->hdr == RT_NULL)
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{
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int i = 0;
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struct rt_can_hdr *phdr;
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phdr = (struct rt_can_hdr *) rt_malloc(can->config.maxhdr * sizeof(struct rt_can_hdr));
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RT_ASSERT(phdr != RT_NULL);
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rt_memset(phdr, 0, can->config.maxhdr * sizeof(struct rt_can_hdr));
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for (i = 0; i < can->config.maxhdr; i++)
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{
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rt_list_init(&phdr[i].list);
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}
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can->hdr = phdr;
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}
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#endif
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if (!can->timerinitflag)
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{
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can->timerinitflag = 1;
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rt_timer_start(&can->timer);
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}
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CAN_UNLOCK(can);
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return RT_EOK;
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}
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static rt_err_t rt_can_close(struct rt_device *dev)
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{
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struct rt_can_device *can;
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RT_ASSERT(dev != RT_NULL);
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can = (struct rt_can_device *)dev;
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CAN_LOCK(can);
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/* this device has more reference count */
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if (dev->ref_count > 1)
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{
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CAN_UNLOCK(can);
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return RT_EOK;
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}
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if (can->timerinitflag)
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{
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can->timerinitflag = 0;
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rt_timer_stop(&can->timer);
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}
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can->status_indicate.ind = RT_NULL;
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can->status_indicate.args = RT_NULL;
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#ifdef RT_CAN_USING_HDR
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if (can->hdr != RT_NULL)
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{
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rt_free(can->hdr);
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can->hdr = RT_NULL;
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}
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#endif
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if (dev->open_flag & RT_DEVICE_FLAG_INT_RX)
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{
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struct rt_can_rx_fifo *rx_fifo;
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rx_fifo = (struct rt_can_rx_fifo *)can->can_rx;
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RT_ASSERT(rx_fifo != RT_NULL);
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rt_free(rx_fifo);
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dev->open_flag &= ~RT_DEVICE_FLAG_INT_RX;
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can->can_rx = RT_NULL;
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/* clear can rx interrupt */
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can->ops->control(can, RT_DEVICE_CTRL_CLR_INT, (void *)RT_DEVICE_FLAG_INT_RX);
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}
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if (dev->open_flag & RT_DEVICE_FLAG_INT_TX)
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{
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struct rt_can_tx_fifo *tx_fifo;
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tx_fifo = (struct rt_can_tx_fifo *)can->can_tx;
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RT_ASSERT(tx_fifo != RT_NULL);
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rt_sem_detach(&(tx_fifo->sem));
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rt_free(tx_fifo);
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dev->open_flag &= ~RT_DEVICE_FLAG_INT_TX;
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can->can_tx = RT_NULL;
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/* clear can tx interrupt */
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can->ops->control(can, RT_DEVICE_CTRL_CLR_INT, (void *)RT_DEVICE_FLAG_INT_TX);
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}
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can->ops->control(can, RT_DEVICE_CTRL_CLR_INT, (void *)RT_DEVICE_CAN_INT_ERR);
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CAN_UNLOCK(can);
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return RT_EOK;
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}
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static rt_size_t rt_can_read(struct rt_device *dev,
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rt_off_t pos,
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void *buffer,
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rt_size_t size)
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{
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struct rt_can_device *can;
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RT_ASSERT(dev != RT_NULL);
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if (size == 0) return 0;
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can = (struct rt_can_device *)dev;
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if ((dev->open_flag & RT_DEVICE_FLAG_INT_RX) && (dev->ref_count > 0))
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{
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return _can_int_rx(can, buffer, size);
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}
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return 0;
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}
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static rt_size_t rt_can_write(struct rt_device *dev,
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rt_off_t pos,
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const void *buffer,
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rt_size_t size)
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{
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struct rt_can_device *can;
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RT_ASSERT(dev != RT_NULL);
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if (size == 0) return 0;
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can = (struct rt_can_device *)dev;
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if ((dev->open_flag & RT_DEVICE_FLAG_INT_TX) && (dev->ref_count > 0))
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{
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if (can->config.privmode)
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{
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return _can_int_tx_priv(can, buffer, size);
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}
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else
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{
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return _can_int_tx(can, buffer, size);
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}
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}
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return 0;
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}
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static rt_err_t rt_can_control(struct rt_device *dev,
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int cmd,
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void *args)
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{
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struct rt_can_device *can;
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rt_err_t res;
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res = RT_EOK;
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RT_ASSERT(dev != RT_NULL);
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can = (struct rt_can_device *)dev;
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switch (cmd)
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{
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case RT_DEVICE_CTRL_SUSPEND:
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/* suspend device */
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dev->flag |= RT_DEVICE_FLAG_SUSPENDED;
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break;
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case RT_DEVICE_CTRL_RESUME:
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/* resume device */
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dev->flag &= ~RT_DEVICE_FLAG_SUSPENDED;
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break;
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case RT_DEVICE_CTRL_CONFIG:
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/* configure device */
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res = can->ops->configure(can, (struct can_configure *)args);
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break;
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case RT_CAN_CMD_SET_PRIV:
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/* configure device */
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if ((rt_uint32_t)args != can->config.privmode)
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{
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int i;
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rt_base_t level;
|
|
struct rt_can_tx_fifo *tx_fifo;
|
|
|
|
res = can->ops->control(can, cmd, args);
|
|
if (res != RT_EOK) return res;
|
|
tx_fifo = (struct rt_can_tx_fifo *) can->can_tx;
|
|
if (can->config.privmode)
|
|
{
|
|
for (i = 0; i < can->config.sndboxnumber; i++)
|
|
{
|
|
level = rt_hw_interrupt_disable();
|
|
if(rt_list_isempty(&tx_fifo->buffer[i].list))
|
|
{
|
|
rt_sem_release(&(tx_fifo->sem));
|
|
}
|
|
else
|
|
{
|
|
rt_list_remove(&tx_fifo->buffer[i].list);
|
|
}
|
|
rt_hw_interrupt_enable(level);
|
|
}
|
|
|
|
}
|
|
else
|
|
{
|
|
for (i = 0; i < can->config.sndboxnumber; i++)
|
|
{
|
|
level = rt_hw_interrupt_disable();
|
|
if (tx_fifo->buffer[i].result == RT_CAN_SND_RESULT_OK)
|
|
{
|
|
rt_list_insert_before(&tx_fifo->freelist, &tx_fifo->buffer[i].list);
|
|
}
|
|
rt_hw_interrupt_enable(level);
|
|
}
|
|
}
|
|
}
|
|
break;
|
|
|
|
case RT_CAN_CMD_SET_STATUS_IND:
|
|
can->status_indicate.ind = ((rt_can_status_ind_type_t)args)->ind;
|
|
can->status_indicate.args = ((rt_can_status_ind_type_t)args)->args;
|
|
break;
|
|
|
|
#ifdef RT_CAN_USING_HDR
|
|
case RT_CAN_CMD_SET_FILTER:
|
|
res = can->ops->control(can, cmd, args);
|
|
if (res != RT_EOK || can->hdr == RT_NULL)
|
|
{
|
|
return res;
|
|
}
|
|
|
|
struct rt_can_filter_config *pfilter;
|
|
struct rt_can_filter_item *pitem;
|
|
rt_uint32_t count;
|
|
rt_base_t level;
|
|
|
|
pfilter = (struct rt_can_filter_config *)args;
|
|
RT_ASSERT(pfilter);
|
|
count = pfilter->count;
|
|
pitem = pfilter->items;
|
|
if (pfilter->actived)
|
|
{
|
|
while (count)
|
|
{
|
|
if (pitem->hdr >= can->config.maxhdr || pitem->hdr < 0)
|
|
{
|
|
count--;
|
|
pitem++;
|
|
continue;
|
|
}
|
|
|
|
level = rt_hw_interrupt_disable();
|
|
if (!can->hdr[pitem->hdr].connected)
|
|
{
|
|
rt_hw_interrupt_enable(level);
|
|
rt_memcpy(&can->hdr[pitem->hdr].filter, pitem,
|
|
sizeof(struct rt_can_filter_item));
|
|
level = rt_hw_interrupt_disable();
|
|
can->hdr[pitem->hdr].connected = 1;
|
|
can->hdr[pitem->hdr].msgs = 0;
|
|
rt_list_init(&can->hdr[pitem->hdr].list);
|
|
}
|
|
rt_hw_interrupt_enable(level);
|
|
|
|
count--;
|
|
pitem++;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
while (count)
|
|
{
|
|
if (pitem->hdr >= can->config.maxhdr || pitem->hdr < 0)
|
|
{
|
|
count--;
|
|
pitem++;
|
|
continue;
|
|
}
|
|
level = rt_hw_interrupt_disable();
|
|
|
|
if (can->hdr[pitem->hdr].connected)
|
|
{
|
|
can->hdr[pitem->hdr].connected = 0;
|
|
can->hdr[pitem->hdr].msgs = 0;
|
|
if (!rt_list_isempty(&can->hdr[pitem->hdr].list))
|
|
{
|
|
rt_list_remove(can->hdr[pitem->hdr].list.next);
|
|
}
|
|
rt_hw_interrupt_enable(level);
|
|
rt_memset(&can->hdr[pitem->hdr].filter, 0,
|
|
sizeof(struct rt_can_filter_item));
|
|
}
|
|
else
|
|
{
|
|
rt_hw_interrupt_enable(level);
|
|
}
|
|
count--;
|
|
pitem++;
|
|
}
|
|
}
|
|
break;
|
|
#endif /*RT_CAN_USING_HDR*/
|
|
#ifdef RT_CAN_USING_BUS_HOOK
|
|
case RT_CAN_CMD_SET_BUS_HOOK:
|
|
can->bus_hook = (rt_can_bus_hook) args;
|
|
break;
|
|
#endif /*RT_CAN_USING_BUS_HOOK*/
|
|
default :
|
|
/* control device */
|
|
if (can->ops->control != RT_NULL)
|
|
{
|
|
res = can->ops->control(can, cmd, args);
|
|
}
|
|
else
|
|
{
|
|
res = -RT_ENOSYS;
|
|
}
|
|
break;
|
|
}
|
|
|
|
return res;
|
|
}
|
|
|
|
/*
|
|
* can timer
|
|
*/
|
|
static void cantimeout(void *arg)
|
|
{
|
|
rt_can_t can;
|
|
|
|
can = (rt_can_t)arg;
|
|
RT_ASSERT(can);
|
|
rt_device_control((rt_device_t)can, RT_CAN_CMD_GET_STATUS, (void *)&can->status);
|
|
|
|
if (can->status_indicate.ind != RT_NULL)
|
|
{
|
|
can->status_indicate.ind(can, can->status_indicate.args);
|
|
}
|
|
#ifdef RT_CAN_USING_BUS_HOOK
|
|
if(can->bus_hook)
|
|
{
|
|
can->bus_hook(can);
|
|
}
|
|
#endif /*RT_CAN_USING_BUS_HOOK*/
|
|
if (can->timerinitflag == 1)
|
|
{
|
|
can->timerinitflag = 0xFF;
|
|
}
|
|
}
|
|
|
|
#ifdef RT_USING_DEVICE_OPS
|
|
const static struct rt_device_ops can_device_ops =
|
|
{
|
|
rt_can_init,
|
|
rt_can_open,
|
|
rt_can_close,
|
|
rt_can_read,
|
|
rt_can_write,
|
|
rt_can_control
|
|
};
|
|
#endif
|
|
|
|
/*
|
|
* can register
|
|
*/
|
|
rt_err_t rt_hw_can_register(struct rt_can_device *can,
|
|
const char *name,
|
|
const struct rt_can_ops *ops,
|
|
void *data)
|
|
{
|
|
struct rt_device *device;
|
|
RT_ASSERT(can != RT_NULL);
|
|
|
|
device = &(can->parent);
|
|
|
|
device->type = RT_Device_Class_CAN;
|
|
device->rx_indicate = RT_NULL;
|
|
device->tx_complete = RT_NULL;
|
|
#ifdef RT_CAN_USING_HDR
|
|
can->hdr = RT_NULL;
|
|
#endif
|
|
can->can_rx = RT_NULL;
|
|
can->can_tx = RT_NULL;
|
|
rt_mutex_init(&(can->lock), "can", RT_IPC_FLAG_PRIO);
|
|
#ifdef RT_CAN_USING_BUS_HOOK
|
|
can->bus_hook = RT_NULL;
|
|
#endif /*RT_CAN_USING_BUS_HOOK*/
|
|
|
|
#ifdef RT_USING_DEVICE_OPS
|
|
device->ops = &can_device_ops;
|
|
#else
|
|
device->init = rt_can_init;
|
|
device->open = rt_can_open;
|
|
device->close = rt_can_close;
|
|
device->read = rt_can_read;
|
|
device->write = rt_can_write;
|
|
device->control = rt_can_control;
|
|
#endif
|
|
can->ops = ops;
|
|
|
|
can->status_indicate.ind = RT_NULL;
|
|
can->status_indicate.args = RT_NULL;
|
|
rt_memset(&can->status, 0, sizeof(can->status));
|
|
|
|
device->user_data = data;
|
|
|
|
can->timerinitflag = 0;
|
|
rt_timer_init(&can->timer,
|
|
name,
|
|
cantimeout,
|
|
(void *)can,
|
|
can->config.ticks,
|
|
RT_TIMER_FLAG_PERIODIC);
|
|
/* register a character device */
|
|
return rt_device_register(device, name, RT_DEVICE_FLAG_RDWR);
|
|
}
|
|
|
|
/* ISR for can interrupt */
|
|
void rt_hw_can_isr(struct rt_can_device *can, int event)
|
|
{
|
|
switch (event & 0xff)
|
|
{
|
|
case RT_CAN_EVENT_RXOF_IND:
|
|
{
|
|
rt_base_t level;
|
|
level = rt_hw_interrupt_disable();
|
|
can->status.dropedrcvpkg++;
|
|
rt_hw_interrupt_enable(level);
|
|
}
|
|
case RT_CAN_EVENT_RX_IND:
|
|
{
|
|
struct rt_can_msg tmpmsg;
|
|
struct rt_can_rx_fifo *rx_fifo;
|
|
struct rt_can_msg_list *listmsg = RT_NULL;
|
|
#ifdef RT_CAN_USING_HDR
|
|
rt_int8_t hdr;
|
|
#endif
|
|
int ch = -1;
|
|
rt_base_t level;
|
|
rt_uint32_t no;
|
|
|
|
rx_fifo = (struct rt_can_rx_fifo *)can->can_rx;
|
|
RT_ASSERT(rx_fifo != RT_NULL);
|
|
/* interrupt mode receive */
|
|
RT_ASSERT(can->parent.open_flag & RT_DEVICE_FLAG_INT_RX);
|
|
|
|
no = event >> 8;
|
|
ch = can->ops->recvmsg(can, &tmpmsg, no);
|
|
if (ch == -1) break;
|
|
|
|
/* disable interrupt */
|
|
level = rt_hw_interrupt_disable();
|
|
can->status.rcvpkg++;
|
|
can->status.rcvchange = 1;
|
|
if (!rt_list_isempty(&rx_fifo->freelist))
|
|
{
|
|
listmsg = rt_list_entry(rx_fifo->freelist.next, struct rt_can_msg_list, list);
|
|
rt_list_remove(&listmsg->list);
|
|
#ifdef RT_CAN_USING_HDR
|
|
rt_list_remove(&listmsg->hdrlist);
|
|
if (listmsg->owner != RT_NULL && listmsg->owner->msgs)
|
|
{
|
|
listmsg->owner->msgs--;
|
|
}
|
|
listmsg->owner = RT_NULL;
|
|
#endif /*RT_CAN_USING_HDR*/
|
|
RT_ASSERT(rx_fifo->freenumbers > 0);
|
|
rx_fifo->freenumbers--;
|
|
}
|
|
else if (!rt_list_isempty(&rx_fifo->uselist))
|
|
{
|
|
listmsg = rt_list_entry(rx_fifo->uselist.next, struct rt_can_msg_list, list);
|
|
can->status.dropedrcvpkg++;
|
|
rt_list_remove(&listmsg->list);
|
|
#ifdef RT_CAN_USING_HDR
|
|
rt_list_remove(&listmsg->hdrlist);
|
|
if (listmsg->owner != RT_NULL && listmsg->owner->msgs)
|
|
{
|
|
listmsg->owner->msgs--;
|
|
}
|
|
listmsg->owner = RT_NULL;
|
|
#endif
|
|
}
|
|
/* enable interrupt */
|
|
rt_hw_interrupt_enable(level);
|
|
|
|
if (listmsg != RT_NULL)
|
|
{
|
|
rt_memcpy(&listmsg->data, &tmpmsg, sizeof(struct rt_can_msg));
|
|
level = rt_hw_interrupt_disable();
|
|
rt_list_insert_before(&rx_fifo->uselist, &listmsg->list);
|
|
#ifdef RT_CAN_USING_HDR
|
|
hdr = tmpmsg.hdr;
|
|
if (can->hdr != RT_NULL)
|
|
{
|
|
RT_ASSERT(hdr < can->config.maxhdr && hdr >= 0);
|
|
if (can->hdr[hdr].connected)
|
|
{
|
|
rt_list_insert_before(&can->hdr[hdr].list, &listmsg->hdrlist);
|
|
listmsg->owner = &can->hdr[hdr];
|
|
can->hdr[hdr].msgs++;
|
|
}
|
|
|
|
}
|
|
#endif
|
|
rt_hw_interrupt_enable(level);
|
|
}
|
|
|
|
/* invoke callback */
|
|
#ifdef RT_CAN_USING_HDR
|
|
if (can->hdr != RT_NULL && can->hdr[hdr].connected && can->hdr[hdr].filter.ind)
|
|
{
|
|
rt_size_t rx_length;
|
|
RT_ASSERT(hdr < can->config.maxhdr && hdr >= 0);
|
|
|
|
level = rt_hw_interrupt_disable();
|
|
rx_length = can->hdr[hdr].msgs * sizeof(struct rt_can_msg);
|
|
rt_hw_interrupt_enable(level);
|
|
if (rx_length)
|
|
{
|
|
can->hdr[hdr].filter.ind(&can->parent, can->hdr[hdr].filter.args, hdr, rx_length);
|
|
}
|
|
}
|
|
else
|
|
#endif
|
|
{
|
|
if (can->parent.rx_indicate != RT_NULL)
|
|
{
|
|
rt_size_t rx_length;
|
|
|
|
level = rt_hw_interrupt_disable();
|
|
/* get rx length */
|
|
rx_length = rt_list_len(&rx_fifo->uselist)* sizeof(struct rt_can_msg);
|
|
rt_hw_interrupt_enable(level);
|
|
|
|
if (rx_length)
|
|
{
|
|
can->parent.rx_indicate(&can->parent, rx_length);
|
|
}
|
|
}
|
|
}
|
|
break;
|
|
}
|
|
|
|
case RT_CAN_EVENT_TX_DONE:
|
|
case RT_CAN_EVENT_TX_FAIL:
|
|
{
|
|
struct rt_can_tx_fifo *tx_fifo;
|
|
rt_uint32_t no;
|
|
no = event >> 8;
|
|
tx_fifo = (struct rt_can_tx_fifo *) can->can_tx;
|
|
RT_ASSERT(tx_fifo != RT_NULL);
|
|
|
|
if ((event & 0xff) == RT_CAN_EVENT_TX_DONE)
|
|
{
|
|
tx_fifo->buffer[no].result = RT_CAN_SND_RESULT_OK;
|
|
}
|
|
else
|
|
{
|
|
tx_fifo->buffer[no].result = RT_CAN_SND_RESULT_ERR;
|
|
}
|
|
rt_completion_done(&(tx_fifo->buffer[no].completion));
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
#ifdef RT_USING_FINSH
|
|
#include <finsh.h>
|
|
int cmd_canstat(int argc, void **argv)
|
|
{
|
|
static const char *ErrCode[] =
|
|
{
|
|
"No Error!",
|
|
"Warning !",
|
|
"Passive !",
|
|
"Bus Off !"
|
|
};
|
|
|
|
if (argc >= 2)
|
|
{
|
|
struct rt_can_status status;
|
|
rt_device_t candev = rt_device_find(argv[1]);
|
|
if (!candev)
|
|
{
|
|
rt_kprintf(" Can't find can device %s\n", argv[1]);
|
|
return -1;
|
|
}
|
|
rt_kprintf(" Finded can device: %s...", argv[1]);
|
|
|
|
rt_device_control(candev, RT_CAN_CMD_GET_STATUS, &status);
|
|
rt_kprintf("\n Receive...error..count: %010ld. Send.....error....count: %010ld.",
|
|
status.rcverrcnt, status.snderrcnt);
|
|
rt_kprintf("\n Bit..pad..error..count: %010ld. Format...error....count: %010ld",
|
|
status.bitpaderrcnt, status.formaterrcnt);
|
|
rt_kprintf("\n Ack.......error..count: %010ld. Bit......error....count: %010ld.",
|
|
status.ackerrcnt, status.biterrcnt);
|
|
rt_kprintf("\n CRC.......error..count: %010ld. Error.code.[%010ld]: ",
|
|
status.crcerrcnt, status.errcode);
|
|
switch (status.errcode)
|
|
{
|
|
case 0:
|
|
rt_kprintf("%s.", ErrCode[0]);
|
|
break;
|
|
case 1:
|
|
rt_kprintf("%s.", ErrCode[1]);
|
|
break;
|
|
case 2:
|
|
case 3:
|
|
rt_kprintf("%s.", ErrCode[2]);
|
|
break;
|
|
case 4:
|
|
case 5:
|
|
case 6:
|
|
case 7:
|
|
rt_kprintf("%s.", ErrCode[3]);
|
|
break;
|
|
}
|
|
rt_kprintf("\n Total.receive.packages: %010ld. Droped.receive.packages: %010ld.",
|
|
status.rcvpkg, status.dropedrcvpkg);
|
|
rt_kprintf("\n Total..send...packages: %010ld. Droped...send..packages: %010ld.\n",
|
|
status.sndpkg + status.dropedsndpkg, status.dropedsndpkg);
|
|
}
|
|
else
|
|
{
|
|
rt_kprintf(" Invalid Call %s\n", argv[0]);
|
|
rt_kprintf(" Please using %s cannamex .Here canname is driver name and x is candrive number.\n", argv[0]);
|
|
}
|
|
return 0;
|
|
}
|
|
MSH_CMD_EXPORT_ALIAS(cmd_canstat, canstat, stat can device status);
|
|
#endif
|