/* wnCAN.c - implementation of Windnet CAN Interface *//* Copyright 2001 Wind River Systems, Inc. *//*modification history--------------------09nov01,dnb modified for integration into Tornado12jul01,jac written*//*DESCRIPTIONThis file contains the functions that implement the interface defined in thewnCAN.h header file.*//* includes */#include <vxWorks.h>#include <errnoLib.h>#include <CAN/wnCAN.h>#include <CAN/canBoard.h>#include <CAN/canController.h>/* global variables */const static WNCAN_VersionInfo info = {1,2};/************************************************************************** WNCAN_GetVersion - return current major and minor revision*** RETURNS:pointer to WNCAN_VersionInfo** ERRNO: N/A**/const WNCAN_VersionInfo *WNCAN_GetVersion(void){    return &info;}/************************************************************************** defaultISRCallBack - do nothing but return** The default ISR callback serves as a placeholder and does nothing** RETURNS: N/A** ERRNO: N/A**/static void defaultISRCallback(    WNCAN_DEVICE *pDev,    WNCAN_IntType stat,    UCHAR chnNum){    return;}/************************************************************************** establishLinks - initialize function pointers in the Device structure** This routine connects the function pointers in the CAN_Device* data structure to the appropriate routines.** RETURNS: OK or ERROR** ERRNO: S_can_invalid_parameter**/STATUS CAN_DEVICE_establishLinks(    WNCAN_DEVICE *pDev,    WNCAN_BoardType brdType,    WNCAN_ControllerType ctrlType){    STATUS retCode = OK;    /* check for null pointer */    if(pDev == 0)    {        errnoSet(S_can_invalid_parameter);        retCode = ERROR;    }    else    {        /* save board and controller types */        pDev->pCtrl->ctrlType = ctrlType;        pDev->pBrd->brdType = brdType;        /* establish controller links */        retCode = WNCAN_Controller_establishLinks(pDev, ctrlType);        /* establish board links */        retCode = WNCAN_Board_establishLinks(pDev, brdType);        /* set default isr callback */        pDev->pISRCallback = defaultISRCallback;    }    return retCode;}/************************************************************************** CAN_InstallISRCallback - initialize ISR callback** RETURNS: OK or ERROR** ERRNO: S_can_invalid_parameter**/STATUS CAN_InstallISRCallback(    struct WNCAN_Device *pDev,    void (*pFun)(struct WNCAN_Device *pDev2,WNCAN_IntType                 intStatus, UCHAR channelNum)){   if(!pDev || !pFun)   {        errnoSet(S_can_invalid_parameter);        return ERROR;    }    else        pDev->pISRCallback = pFun;    return OK;}/************************************************************************** WNCAN_Open - return a handle to the requested WNCAN_DEVICE** RETURNS: pointer to valid WNCAN_DEVICE, or 0 if an error occurred** ERRNO: N/A**/struct WNCAN_Device *WNCAN_Open(    unsigned int brdType,    unsigned int brdNdx,    unsigned int ctrlNdx){    return  WNCAN_Board_Open(brdType, brdNdx, ctrlNdx);}/************************************************************************** WNCAN_Close - close the handle to the requested WNCAN_DEVICE** RETURNS: N/A** ERRNO: N/A**/void WNCAN_Close(struct WNCAN_Device *pDev){	if(pDev != NULL)		WNCAN_Board_Close(pDev);    return;}/************************************************************************** WNCAN_GetMode - get the channel mode** This routine returns the mode of the channel.** RETURNS: the channel mode** ERRNO:   N/A**/WNCAN_ChannelMode WNCAN_GetMode(struct WNCAN_Device *pDev, UCHAR chn){    WNCAN_ChannelMode cm = WNCAN_CHN_INVALID;    if(chn < pDev->pCtrl->numChn)        cm = pDev->pCtrl->chnMode[chn];    return cm;}/************************************************************************* WNCAN_SetMode - set the mode of the channel.** This function sets the mode of the channel to one of five values:* WNCAN_CHN_TRANSMIT, WNCAN_CHN_RECEIVE, WNCAN_CHN_INACTIVE, * and in addition for advanced controllers,* WNCAN_CHN_RTR_REQUESTER, or WNCAN_CHN_RTR_RESPONDER.* All available channels can be configured to be WNCAN_CHN_INACTIVE.* The channels available for transmitting or receiving messages are* determined by the device hardware, and therefore ,may or may not be* configurable with this function call. If an attempt is made to set the mode * of a channel to WNCAN_CHN_RTR_RESPONDER or WNCAN_CHN_RTR_REQUESTER for a* simple CAN controller such as SJA1000, WNCAN_CHN_INVALID is returned and an* and errorno is set to reflect the error. * The preferred approach is to allow the device driver to manage the channels * internally using the CAN_GetTxChannel(), CAN_GetRxChannel(), * CAN_GetRTRRequesterChannel(), CAN_GetRTRResponderChannel() and* CAN_FreeChannel() function calls.** WNCAN_SetMode, does not affect channel setting in hardware.** RETURNS: ERROR if the requested channel number is out of range,*           OK otherwise ** ERRNO: S_can_illegal_channel_no**/STATUS WNCAN_SetMode(struct WNCAN_Device *pDev, UCHAR channelNum,					 WNCAN_ChannelMode mode){    STATUS retCode = OK;	    if(channelNum >= pDev->pCtrl->numChn)    {        errnoSet(S_can_illegal_channel_no);        retCode = ERROR;    }    else    {        switch(mode)        {		case WNCAN_CHN_TRANSMIT:			if((pDev->pCtrl->chnType[channelNum] == WNCAN_CHN_TRANSMIT) ||				(pDev->pCtrl->chnType[channelNum] == WNCAN_CHN_TRANSMIT_RECEIVE))			{				pDev->pCtrl->chnMode[channelNum] = WNCAN_CHN_TRANSMIT;			}			else			{				errnoSet(S_can_illegal_config);				retCode = ERROR;			}						break;					case WNCAN_CHN_RECEIVE:			if((pDev->pCtrl->chnType[channelNum] == WNCAN_CHN_RECEIVE) ||				(pDev->pCtrl->chnType[channelNum] == WNCAN_CHN_TRANSMIT_RECEIVE))			{								pDev->pCtrl->chnMode[channelNum] = WNCAN_CHN_RECEIVE;			}			else			{				errnoSet(S_can_illegal_config);				retCode = ERROR;			}						break;					case WNCAN_CHN_RTR_REQUESTER:		/* The hardware type of the channel will be transmit and receive only			in advanced controllers such as TouCAN and I82527 */			if(pDev->pCtrl->chnType[channelNum] == WNCAN_CHN_TRANSMIT_RECEIVE)			{				pDev->pCtrl->chnMode[channelNum] = WNCAN_CHN_RTR_REQUESTER;			}			else			{				errnoSet(S_can_rtr_mode_not_supported);				retCode = ERROR;			}						break;