/* wnCAN.h - definitions for Windnet CAN Interface *//* Copyright 2001 Wind River Systems, Inc. *//* modification history--------------------09nov01,dnb modified for integration into Tornado12jul01,jac written*//*   DESCRIPTION  This file contains the declarations and definitions that comprise the  Windnet CAN Interface.  */#ifndef WN_CAN_H#define WN_CAN_H#include <CAN/canController.h>#include <CAN/canBoard.h>typedef struct tagCANVersionInfo{    UCHAR major;    UCHAR minor;} WNCAN_VersionInfo;#define WNCAN_ILLEGAL_CHN_NUM      0xff/* types of channel configurations */#define WNCAN_CHN_INVALID          0x00#define WNCAN_CHN_TRANSMIT         0x01#define WNCAN_CHN_RECEIVE          0x02#define WNCAN_CHN_TRANSMIT_RECEIVE 0x03#define WNCAN_CHN_INACTIVE         0x04#define WNCAN_CHN_RTR_REQUESTER    0x11#define WNCAN_CHN_RTR_RESPONDER    0x12typedef UINT WNCAN_ChannelType;typedef UINT WNCAN_ChannelMode;#define WNCAN_IS_CHN_RTR          0x10/* CAN bus error type */#define WNCAN_ERR_NONE    0#define WNCAN_ERR_BIT     0x1#define WNCAN_ERR_ACK     0x2#define WNCAN_ERR_CRC     0x4#define WNCAN_ERR_FORM    0x8#define WNCAN_ERR_STUFF   0x10#define WNCAN_ERR_UNKNOWN 0x20typedef UINT WNCAN_BusError;/* status code returned by CAN_GetBusStatus */#define WNCAN_BUS_OK   0#define WNCAN_BUS_WARN 1#define WNCAN_BUS_OFF  2typedef UINT WNCAN_BusStatus;/* Interrupt status */#define WNCAN_INT_NONE     0#define WNCAN_INT_ERROR    0x1#define WNCAN_INT_BUS_OFF  0x2#define WNCAN_INT_WAKE_UP  0x4#define WNCAN_INT_TX       0x8#define WNCAN_INT_RX       0x10#define WNCAN_INT_RTR_RESPONSE 0x20#define WNCAN_INT_SPURIOUS 0xffffeeee#define WNCAN_INT_ALL      0xffffffff typedef UINT WNCAN_IntType;/*Macro definitions to be used with filtering*/#define COMPARE_ALL_STD_IDS 0x7FF#define COMPARE_ALL_EXT_IDS 0x1FFFFFFF#define ACCEPT_ALL_STD_IDS  0#define ACCEPT_ALL_STD_IDS  0/* STATUS error codes returned by CAN interface functions */#define WNCAN_NOERROR                 0#define WNCAN_BUSY                    80#define WNCAN_NOTINITIALIZED          81#define WNCAN_NULL_POINTER            82#define WNCAN_ILLEGAL_CHANNEL_NO      83#define WNCAN_ILLEGAL_CONFIG          84#define WNCAN_ILLEGAL_CTRL_NO         85#define WNCAN_ILLEGAL_BOARD_INDEX     86#define WNCAN_NO_OP                   87#define WNCAN_BUFFER_UNDERFLOW        89#define WNCAN_BUFFER_OVERFLOW         90#define WNCAN_ILLEGAL_DATA_LENGTH     91#define WNCAN_NULL_BUFFER             92 #define WNCAN_ILLEGAL_MASK_VALUE      93#define WNCAN_BUS_FAULT               94 #define WNCAN_HWFEATURE_NOT_AVAILABLE 95#define WNCAN_ILLEGAL_CHANNEL_MODE    96#define WNCAN_RTR_MODE_NOT_SUPPORTED  97#define WNCAN_NO_AVAIL_CHANNELS       98#define WNCAN_ILLEGAL_OFFSET          101#define WNCAN_CANNOT_SET_ERRINT       102#define WNCAN_CANNOT_SET_BOFFINT      104#define WNCAN_CANNOT_SET_WAKEUPINT    108#define WNCAN_INCOMPATIBLE_TYPE       109#define WNCAN_SLEEP_IN_RESET_MODE     110#define WNCAN_USE_AUTO_RESPONSE       111#define WNCAN_USE_RTR_REQ_CHN_MODE    112#define WNCAN_TSEG_ZERO               113#define WNCAN_NUMTQ_LT_NINE           114#define WNCAN_UNKNOWN_ERROR           255/* defined error codes */#define M_wnCan (496 << 16)#define S_can_invalid_parameter          (M_wnCan + 1)#define S_can_unknown_controller         (M_wnCan + 2)#define S_can_invalid_timing_combination (M_wnCan + 3)#define S_can_out_of_memory              (M_wnCan + 4)#define S_can_unknown_board              (M_wnCan + 5)#define S_can_busy                       (M_wnCan + WNCAN_BUSY)#define S_can_illegal_channel_no         (M_wnCan + WNCAN_ILLEGAL_CHANNEL_NO)#define S_can_illegal_config             (M_wnCan + WNCAN_ILLEGAL_CONFIG)#define S_can_illegal_ctrl_no            (M_wnCan + WNCAN_ILLEGAL_CTRL_NO)#define S_can_illegal_board_no           (M_wnCan + WNCAN_ILLEGAL_BOARD_INDEX)#define S_can_no_op                      (M_wnCan + WNCAN_NO_OP)#define S_can_buffer_underflow           (M_wnCan + WNCAN_BUFFER_UNDERFLOW)#define S_can_buffer_overflow            (M_wnCan + WNCAN_BUFFER_OVERFLOW)#define S_can_illegal_data_length        (M_wnCan + WNCAN_ILLEGAL_DATA_LENGTH)#define S_can_null_input_buffer          (M_wnCan + WNCAN_NULL_BUFFER)#define S_can_illegal_mask_value         (M_wnCan + WNCAN_ILLEGAL_MASK_VALUE) #define S_can_bus_fault                  (M_wnCan + WNCAN_BUS_FAULT)#define S_can_hwfeature_not_available    (M_wnCan + WNCAN_HWFEATURE_NOT_AVAILABLE) #define S_can_illegal_channel_mode       (M_wnCan + WNCAN_ILLEGAL_CHANNEL_MODE) #define S_can_illegal_offset			 (M_wnCan + WNCAN_ILLEGAL_OFFSET)#define S_can_cannot_set_error_int       (M_wnCan + WNCAN_CANNOT_SET_ERRINT)#define S_can_cannot_set_boff_int        (M_wnCan + WNCAN_CANNOT_SET_BOFFINT)#define S_can_cannot_set_wakeup_int      (M_wnCan + WNCAN_CANNOT_SET_WAKEUPINT)#define S_can_rtr_mode_not_supported     (M_wnCan + WNCAN_RTR_MODE_NOT_SUPPORTED)#define S_can_no_available_channels      (M_wnCan + WNCAN_NO_AVAIL_CHANNELS)#define S_can_incompatible_int_type      (M_wnCan + WNCAN_INCOMPATIBLE_TYPE)#define S_can_cannot_sleep_in_reset_mode (M_wnCan + WNCAN_SLEEP_IN_RESET_MODE)#define S_can_use_auto_response_feature  (M_wnCan + WNCAN_USE_AUTO_RESPONSE)#define S_can_use_rtr_requester_channel_mode (M_wnCan + WNCAN_USE_RTR_REQ_CHN_MODE)#define S_can_tseg2_cannot_be_zero       (M_wnCan + WNCAN_TSEG_ZERO)    #define S_can_numTq_less_than_nine       (M_wnCan + WNCAN_NUMTQ_LT_NINE)      #define S_can_Unknown_Error              (M_wnCan + WNCAN_UNKNOWN_ERROR)struct WNCAN_Controller;struct WNCAN_Board;typedef struct WNCAN_Device{    STATUS            (*Init)(struct WNCAN_Device *p);	    void              (*Start)(struct WNCAN_Device *p);	    void              (*Stop)(struct WNCAN_Device *p);    STATUS            (*SetIntMask)(struct WNCAN_Device *pDev, WNCAN_IntType intMask); 	    void              (*EnableInt)(struct WNCAN_Device *pDev);	    void              (*DisableInt)(struct WNCAN_Device *pDev);                    	    STATUS            (*SetBitTiming)(struct WNCAN_Device *pDev,UCHAR tseg1,                       UCHAR tseg2,UCHAR brp,UCHAR sjw, BOOL numSamples);	    UINT              (*GetBaudRate)(struct WNCAN_Device *pDev, UINT* samplePoint);        WNCAN_BusStatus   (*GetBusStatus)(struct WNCAN_Device *pDev);	    WNCAN_BusError    (*GetBusError)(struct WNCAN_Device *pDev);	    WNCAN_IntType     (*GetIntStatus)(struct WNCAN_Device *pDev,UCHAR *chnNum);	    long              (*ReadID)(struct WNCAN_Device *pDev,UCHAR chnNum,		               BOOL *ext);	    STATUS            (*WriteID)(struct WNCAN_Device *pDev,UCHAR chnNum,		               ULONG canID,BOOL ext);	    STATUS            (*ReadData)(struct WNCAN_Device *pDev,UCHAR chnNum,		               UCHAR *data,UCHAR *len,BOOL *newData);	    int               (*GetMessageLength)(struct WNCAN_Device *pDev,		               UCHAR chnNum);            STATUS            (*WriteData)(struct WNCAN_Device *pDev,UCHAR chnNum,		               UCHAR* data,UCHAR len);	    STATUS            (*Tx)(struct WNCAN_Device *pDev,UCHAR chnNum);	    STATUS            (*TxMsg)(struct WNCAN_Device *pDev,UCHAR chnNum,		               ULONG canId,BOOL ext,UCHAR* data,UCHAR len);	    STATUS            (*SetGlobalRxFilter)(struct WNCAN_Device *pDev,		               long mask,BOOL ext);	    long              (*GetGlobalRxFilter)(struct WNCAN_Device *pDev, BOOL ext);	    STATUS            (*SetLocalMsgFilter)(struct WNCAN_Device *pDev,                       UCHAR channel, long mask, BOOL ext);    long              (*GetLocalMsgFilter)(struct WNCAN_Device *pDev, UCHAR channel, BOOL ext);        int               (*IsMessageLost)(struct WNCAN_Device *pDev,                       UCHAR chnNum);	STATUS            (*ClearMessageLost)(struct WNCAN_Device *pDev,                       UCHAR chnNum);        int               (*IsRTR)(struct WNCAN_Device *pDev,UCHAR chnNum);	STATUS            (*SetRTR)(struct WNCAN_Device *pDev,UCHAR chnNum, BOOL rtr);	    void              (*TxAbort)(struct WNCAN_Device *pDev);	    STATUS            (*Sleep)(struct WNCAN_Device *pDev);		STATUS            (*WakeUp)(struct WNCAN_Device *pDev);		    void              (*pISRCallback)(struct WNCAN_Device *pDev,		               WNCAN_IntType intStatus, UCHAR chnNum);	    STATUS            (*EnableChannel )(struct WNCAN_Device *pDev,		               UCHAR chnNum, WNCAN_IntType useInterrupts);	    STATUS            (*DisableChannel )(struct WNCAN_Device *pDev,		               UCHAR chnNum);		    STATUS            (*WriteReg)(struct WNCAN_Device *pDev, UINT offset,		               UCHAR *data, UINT length);	    STATUS            (*ReadReg)(struct WNCAN_Device *pDev, UINT offset,		               UCHAR *data, UINT length);	    const char        *deviceName;    UINT               deviceId;	    struct WNCAN_Controller *pCtrl;    struct WNCAN_Board      *pBrd;    void                    *userData;          /* user data context pointer */	} WNCAN_DEVICE;/* function prototypes */STATUS CAN_InstallISRCallback(struct WNCAN_Device *pDev,							  void (*pFun)(struct WNCAN_Device *pDev2,							  WNCAN_IntType intStatus,UCHAR chnNum));struct WNCAN_Device *WNCAN_Open(UINT,UINT,UINT);void WNCAN_Close(struct WNCAN_Device *);WNCAN_ChannelMode WNCAN_GetMode(struct WNCAN_Device *pDev, UCHAR chn);STATUS WNCAN_SetMode(struct WNCAN_Device *pDev, UCHAR channelNum, 					 WNCAN_ChannelMode mode);STATUS WNCAN_GetTxChannel(struct WNCAN_Device *pDev,UCHAR *chnNum);STATUS WNCAN_GetRxChannel(struct WNCAN_Device *pDev,UCHAR *chnNum);STATUS WNCAN_GetRTRRequesterChannel(struct WNCAN_Device *pDev,UCHAR *chnNum);STATUS WNCAN_GetRTRResponderChannel(struct WNCAN_Device *pDev,UCHAR *chnNum);STATUS WNCAN_FreeChannel(struct WNCAN_Device *pDev,UCHAR chnNum);const WNCAN_VersionInfo* WNCAN_GetVersion(void);/* additional functions */#ifdef INCLUDE_TOUCANSTATUS TouCAN_SetPropseg(struct WNCAN_Device *pDev, UCHAR propseg);#endif/* The following Macros map the interface function calls to the implementationfunctions set by the installation routine of the device driver. *//* controller independent function prototypes */#define CAN_Open(a,b,c)             WNCAN_Open(a,b,c)#define CAN_Close(a)                WNCAN_Close(a)#define CAN_GetMode(a,b)            WNCAN_GetMode(a,b)#define CAN_SetMode(a,b,c)          WNCAN_SetMode(a,b,c)#define CAN_GetTxChannel(a,b)       WNCAN_GetTxChannel(a,b)#define CAN_GetRxChannel(a,b)       WNCAN_GetRxChannel(a,b)#define CAN_GetRTRResponderChannel(a,b)       WNCAN_GetRTRResponderChannel(a,b)#define CAN_GetRTRRequesterChannel(a,b)       WNCAN_GetRTRRequesterChannel(a,b)#define CAN_FreeChannel(a,b)        WNCAN_FreeChannel(a,b)#define CAN_GetVersion()           WNCAN_GetVersion()/* controller dependent function prototypes */#define CAN_GetBusStatus(a)         a->GetBusStatus(a)#define CAN_GetBusError(a)          a->GetBusError(a)#define CAN_Init(a)                 a->Init(a)#define CAN_Start(a)                a->Start(a)#define CAN_Stop(a)                 a->Stop(a)#define CAN_SetBitTiming(a,b,c,d,e,f) a->SetBitTiming(a,b,c,d,e,f)#define CAN_GetBaudRate(a,b)        a->GetBaudRate(a,b)#define CAN_SetIntMask(a,b)         a->SetIntMask(a,b)#define CAN_EnableInt(a)            a->EnableInt(a)#define CAN_DisableInt(a)           a->DisableInt(a)#define CAN_ReadID(a,b,c)           a->ReadID(a,b,c)#define CAN_WriteID(a,b,c,d)        a->WriteID(a,b,c,d)#define CAN_ReadData(a,b,c,d,e)     a->ReadData(a,b,c,d,e)#define CAN_GetMessageLength(a,b)   a->GetMessageLength(a,b)#define CAN_WriteData(a,b,c,d)      a->WriteData(a,b,c,d)#define CAN_Tx(a,b)                 a->Tx(a,b)#define CAN_TxMsg(a,b,c,d,e,f)       a->TxMsg(a,b,c,d,e,f)#define CAN_SetGlobalRxFilter(a,b,c) a->SetGlobalRxFilter(a,b,c)#define CAN_GetGlobalRxFilter(a,b)   a->GetGlobalRxFilter(a,b)#define CAN_SetLocalMsgFilter(a,b,c,d) a->SetLocalMsgFilter(a,b,c,d)#define CAN_GetLocalMsgFilter(a, b, c) a->GetLocalMsgFilter(a, b, c)#define CAN_GetIntStatus(a,b)        a->GetIntStatus(a,b)#define CAN_IsMessageLost(a,b)       a->IsMessageLost(a,b)#define CAN_ClearMessageLost(a,b)    a->ClearMessageLost(a,b)#define CAN_IsRTR(a,b)               a->IsRTR(a,b)#define CAN_SetRTR(a,b,c)            a->SetRTR(a,b,c)#define CAN_TxAbort(a)               a->TxAbort(a)#define CAN_Sleep(a)                 a->Sleep(a)#define CAN_WakeUp(a)                a->WakeUp(a)#define CAN_WriteReg(a,b,c,d)        a->WriteReg(a,b,c,d) #define CAN_ReadReg(a,b,c,d)         a->ReadReg(a,b,c,d) #define CAN_EnableChannel(a,b,c)     a->EnableChannel(a,b,c)#define CAN_DisableChannel(a,b)      a->DisableChannel(a,b)/* variable access */#define CAN_GetXtalFreq(a)           a->pBrd->xtalFreq#define CAN_GetControllerType(a)     a->pCtrl->ctrlType#define CAN_GetNumChannels(a)        a->pCtrl->numChn#define CAN_SetSjw(a,b)             (a->pCtrl->sjw = b)#define CAN_SetBrp(a,b)             (a->pCtrl->brp = b)#define CAN_SetTseg1(a,b)           (a->pCtrl->tseg1 = b)#define CAN_SetTseg2(a,b)           (a->pCtrl->tseg2 = b)#define CAN_SetNumOfSamples(a,b)    (a->pCtrl->samples = b)/*These macros are provided for backward compatibility */#define I82527_SetMsgObj15RxFilter(a, b) \CAN_SetLocalMsgFilter(a,14,b,1)#define TouCAN_SetMsgObj14or15RxFilter(a,b,c,d) \CAN_SetLocalMsgFilter(a,d,b,c)#include <CAN/wncan_api.h>#endif  /* WN_CAN_H */