--- a/drivers/ecos_lpc2138_sja1000/canOpenDriver.c Tue Feb 13 17:21:19 2007 +0100
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,325 +0,0 @@
-/*
-This file is part of CanFestival, a library implementing CanOpen Stack.
-
- Author: Christian Fortin (canfestival@canopencanada.ca)
-
-See COPYING file for copyrights details.
-
-This library is free software; you can redistribute it and/or
-modify it under the terms of the GNU Lesser General Public
-License as published by the Free Software Foundation; either
-version 2.1 of the License, or (at your option) any later version.
-
-This library 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
-Lesser General Public License for more details.
-
-You should have received a copy of the GNU Lesser General Public
-License along with this library; if not, write to the Free Software
-Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
-*/
-
-#include <stdlib.h>
-
-#include <sys/time.h>
-#include <signal.h>
-
-#include <cyg/kernel/kapi.h>
-#include <cyg/hal/hal_arch.h>
-
-#include "applicfg.h"
-#include <data.h>
-#include <def.h>
-#include <can.h>
-#include <can_driver.h>
-#include <objdictdef.h>
-#include <objacces.h>
-
-#include "lpc2138_pinout.h"
-#include "lpc2138_defs.h"
-#include "lpc2138.h"
-
-#include "sja1000.h"
-
-#include "time_slicer.h"
-
-
-/*
- SEND/RECEIVE
-*/
-CAN_HANDLE canOpen(s_BOARD *board)
-{
- return NULL;
-}
-
-/***************************************************************************/
-int canClose(CAN_HANDLE fd0)
-{
- return 0;
-}
-
-UNS8 canReceive(CAN_HANDLE fd0, Message *m)
-/*
-Message *m :
- typedef struct {
- SHORT_CAN cob_id; // l'ID du mesg
- UNS8 rtr; // remote transmission request. 0 if not rtr,
- // 1 for a rtr message
- UNS8 len; // message length (0 to 8)
- UNS8 data[8]; // data
- } Message;
-
-Fill the structure "Message" with data from the CAN receive buffer
-
-return : 0
-*/
-{
-/*
- the sja1000 must be set to the PeliCAN mode
-*/
- m->cob_id.w = sja1000_read(16) + (sja1000_read(17)<<8); // IO_PORTS_16(CAN0 + CANRCVID) >> 5
-
- m->rtr = (sja1000_read(17) >> 4) & 0x01; // (IO_PORTS_8(CAN0 + CANRCVID + 1) >> 4) & 0x01;
-
- m->len = sja1000_read(18);
-
- m->data[0] = sja1000_read(19);
- m->data[1] = sja1000_read(20);
- m->data[2] = sja1000_read(21);
- m->data[3] = sja1000_read(22);
- m->data[4] = sja1000_read(23);
- m->data[5] = sja1000_read(24);
- m->data[6] = sja1000_read(25);
- m->data[7] = sja1000_read(26);
-
- sja1000_write(CMR, 1<<RRB ); // release fifo
-
- return 0;
-}
-
-
-UNS8 canSend(CAN_HANDLE fd0, Message *m)
-/*
-Message *m :
- typedef struct {
- SHORT_CAN cob_id; // l'ID du mesg
- UNS8 rtr; // remote transmission request. 0 if not rtr,
- // 1 for a rtr message
- UNS8 len; // message length (0 to 8)
- UNS8 data[8]; // data
- } Message;
-
-Send the content of the structure "Message" to the CAN transmit buffer
-
-return : 0 if OK, 1 if error
-*/
-{
- unsigned char rec_buf;
-
- do
- {
- rec_buf = sja1000_read(SR);
- }
- while ( (rec_buf & (1<<TBS))==0); // loop until TBS high
-
- sja1000_write(16, m->cob_id.w & 0xff);
- sja1000_write(17, (m->cob_id.w >> 8) & 0xff);
- sja1000_write(18, m->len);
-
- sja1000_write(19, m->data[0]); // tx data 1
- sja1000_write(20, m->data[1]); // tx data 2
- sja1000_write(21, m->data[2]); // tx data 3
- sja1000_write(22, m->data[3]); // tx data 4
- sja1000_write(23, m->data[4]); // tx data 5
- sja1000_write(24, m->data[5]); // tx data 6
- sja1000_write(25, m->data[6]); // tx data 7
- sja1000_write(26, m->data[7]); // tx data 8
-
- sja1000_write(CMR,( (0<<SRR) | (0<<CDO) | (0<<RRB) | (0<<AT) | (1<<TR)));
- do
- {
- rec_buf = sja1000_read(SR);
- }
- while ( (rec_buf & (1<<TBS))==0); // loop until TBS high
-
- return 0;
-}
-
-
-/*
- SEQUENTIAL I/O TO FLASH
- those functions are for continous writing and read
-*/
-
-
-int nvram_open(void)
-{
- return iat_init();
-}
-
-
-void nvram_close(void)
-{
- iat_end();
-}
-
-
-void nvram_set_pos(UNS32 pos)
-/* set the current position in the NVRAM to pos */
-{
-}
-
-
-void nvram_new_firmware()
-{
-/*
- this function is called whenever a new firmware is about
- to be written in the NVRAM
-*/
- data_addr = regs_page[1] + regs_page[4]*NVRAM_BLOCK_SIZE;
- if (data_addr > NVRAM_MAX_SIZE)
- data_addr = NVRAM_BLOCK_SIZE;
-}
-
-int _get_data_len(int type)
-{
- int len = 0; /* number of bytes */
- switch(type)
- {
- case boolean:
- len = 1;
- break;
-
- case int8:
- case uint8:
- len = 1;
- break;
- case int16:
- case uint16:
- len = 2;
- break;
- case int24:
- case uint24:
- len = 3;
- break;
- case int32:
- case uint32:
- case real32:
- len = 4;
- break;
- case int40:
- case uint40:
- len = 5;
- break;
- case int48:
- case uint48:
- len = 6;
- break;
- case int56:
- case uint56:
- len = 7;
- break;
- case int64:
- case uint64:
- case real64:
- len = 8;
- break;
-#if 0
-/* TO DO */
- case visible_string:
- case octet_string:
- case unicode_string:
- case time_of_day:
- case time_difference:
-#endif
- }
-
- return len;
-}
-
-
-char nvram_write_data(int type, int access_attr, void *data)
-/* return 0 if successfull */
-{
- int len = _get_data_len(type);
-
- if (data_len+len > NVRAM_BLOCK_SIZE)
- {
- iat_flash_write_page(data_addr);
- data_len = 0;
- data_addr += NVRAM_BLOCK_SIZE;
-
- /* wrap-around address pointer */
- if (data_addr > NVRAM_MAX_SIZE)
- data_addr = NVRAM_BLOCK_SIZE;
-
- data_num_pages++;
- }
-
- memcpy(((char *)data_page)+data_len, data, len);
-
- data_len += len;
-
- return 0;
-}
-
-
-char nvram_read_data(int type, int access_attr, void *data)
-/* return 0 if successful */
-{
- int len = _get_data_len(type);
-
- if (data_len+len > NVRAM_BLOCK_SIZE)
- {
- data_addr += NVRAM_BLOCK_SIZE;
-
- /* wrap-around address pointer */
- if (data_addr > NVRAM_MAX_SIZE)
- data_addr = NVRAM_BLOCK_SIZE;
-
- iat_flash_read_page(data_addr);
- data_len = 0;
- }
-
- memcpy(data, ((char *)data_page)+data_len, len);
-
- data_len += len;
-
- return 0;
-}
-
-/*
- NVRAM registers at block 0
- pos description
- 0 version of the current dictionnary
- 1 starting address for data block
- 2 date of last writing
- 3 address of the previous dictionnary
- 4 size in pages of the current dict
-*/
-void nvram_write_reg(UNS32 reg, UNS16 pos)
-/* write reg at the position in the data block 0 */
-{
- regs_page[pos] = reg;
-}
-
-UNS32 nvram_read_reg(UNS16 pos)
-/* read reg at the position in the data block 0 */
-{
- return regs_page[pos];
-}
-
-
-/*
- LED
-*/
-
-void led_set_redgreen(UNS8 bits)
-/* bits : each bit of this uns8 is assigned a led
- 0=off, 1=on
-*/
-{
- lpc2138_redgreenled_set(bits);
-}
-