User Manual - TEWS TECHNOLOGIES
Contents
1. 4 3 8 FIO_TIP903_FLUSH This I O control function flushes the receive message FIFO All received messages are removed from the internal buffer The function specific control parameter arg is not used for this function EXAMPLE include tip903 h int fd int retval Flush the receive message FIFO retval ioctl fd FIO TIP903 FLUSH 0 if retval ERROR function succeeded else handle the error TIP816 SW 42 VxWorks Device Driver Page 28 of 42 4 3 9 FIO_TIP903_ DEFINE MSG TEWS amp TECHNOLOGIES This VO control function allocates and sets up user definable message objects The function specific control parameter arg is a pointer on a TIP903 CNTRL ARGS structure typedef struct unsigned int cmd unsigned int flags unsigned long arg TIP903_CNTRL_ARGS cmd This parameter is not used for this function flags This parameter defines a flag field specifying the message type The following combinations are allowed Value TIP903_RECEIVE TIP903_RECEIVE TIP903_REMOTE TIP903_TRANSMIT TIP903_TRANSMIT TIP903_REMOTE TIP816 SW 42 VxWorks Device Driver Description This is a receive message object that will receive just a single message identifier or a range of message identifiers see also Acceptance Mask Receive message data can be read by the standard read function This is also a receive object but a remote frame2. TEWS The Embedded VO Company TECHNOLOGIES TIP903 SW 42 VxWorks Device Driver 3 Channel Extended CAN Bus Version 3 0 x User Manual Issue 3 0 0 December 201 1 TEWS TECHNOLOGIES GmbH Am Bahnhof 7 25469 Halstenbek Germany Phone 49 0 4101 4058 0 Fax 49 0 4101 4058 19 e mail info tews com www tews com TIP903 SW 42 VxWorks Device Driver 3 Channel Extended CAN Bus Supported Modules TEWS TECHNOLOGIES This document contains information which is proprietary to TEWS TECHNOLOGIES GmbH Any reproduction without written permission is forbidden TEWS TECHNOLOGIES GmbH has made any effort to ensure that this manual is accurate and es Ie complete However TEWS TECHNOLOGIES GmbH reserves the right to change the product described in this document at any time without notice TEWS TECHNOLOGIES GmbH is not liable for any damage arising out of the application or use of the device described herein 1997 2011 by TEWS TECHNOLOGIES GmbH Issue Date 1 0 April 1997 1 1 General Revision November 2003 1 1 0 IPAC Carrier Driver Support September 22 2005 2 0 0 New Initialization Functions File List Changed June 21 2006 3 0 0 64 Bit and SMP Support added General Revision December 14 2011 TIP816 SW 42 VxWorks Device Driver Page 2 of 42 TENSE TECHNOLOGIES Table of Contents INTRODUCTION EE EE EE 4 MEA DU de ER EE EA ME ER LA EE EE 4 1 2 IPAC Carrier Driver sies Ee De ee oe GE ee EE ER cas GE Ee ke sak
3. 0 or 1 for that bit position A 1 value means that the incoming bit value must match identically to the corresponding bit in the message identifier The function specific control parameter arg is a pointer on a T P903_ACCEPT_MASKS structure typedef struct unsigned short GlobalMaskStandard unsigned int GlobalMaskExtended unsigned int Message15Mask TIP903_ACCEPT_MASKS GlobalMaskStandard This parameter specifies the value for the Global Mask Standard Register The Global Mask Standard Register applies only to messages using the standard CAN identifier This 11 bit identifier appears in bit 5 15 of this parameter GlobalMaskExtended This parameter specifies the value for the Global Mask Extended Register The Global Mask Extended Register applies only to messages using the extended CAN identifier This 29 bit identifier appears in bit 3 31 of this parameter Message 15Mask This parameter specifies the value for the Message 15 Mask Register The Message 15 Mask Register is a local mask for message object 15 This 29 bit identifier appears in bit 3 31 of this parameter The Message 15 Mask is ANDed with the Global Mask This means that any bit defined as don t care in the Global Mask will automatically be a don t care bit for message 15 see also Intel 82527 Architectural Overview TIP816 SW 42 VxWorks Device Driver Page 22 of 42 TENSE TECHNOLOGIES EXAMPLE include tip903 h int
4. Code Description S_tip903Drv_IMSGNUM Invalid message number has been specified TIP816 SW 42 VxWorks Device Driver Page 37 of 42 TEWS TECHNOLOGIES 4 3 12 FIO TIP903 STATUS This VO control function returns the actual status of the specified transmission message object The function specific parameter arg is a pointer on a TIP903 STATUS structure typedef struct unsigned int message_sel unsigned int status TIP903_ STATUS message_sel This parameter specifies the number of the message object Allowed values are 1 13 and 15 Message object 14 is reserved for writing and can not be used status This parameter returns the actual state of the specified message object The status code is the same that would be returned by read or write EXAMPLE include tip903 h int fd TIP903_STATUS msg_stat int retval Get status of message object 3 msg_stat message_sel 3 retval ioctl fd FIO_TIP903_STATUS TIP903_IOCTL_ARG_T amp msg_stat if retval ERROR function succeeded printf Object state 08Xh msg_stat status handle the error TIP816 SW 42 VxWorks Device Driver Page 38 of 42 TEWS amp TECHNOLOGIES ERROR CODES Error Code Description S_tip903Drv_IMSGNUM Invalid message number has been specified TIP816 SW 42 VxWorks Device Driver Page 39 of 42 TEWS TECHNOLOGIES 4 3 13 FIO TIP9
5. FUUSH RE EE AE AR RE taa aR TAAA A RRE OaE 28 4 3 9 FIO TIP903 DEFINE MSG esse sedes ee ese ee ee ee ee ee ee ee se ee ee aada ee aaia PRAA EANAN ee 29 4 3 10 FIO TIP903 UPDATE MSG ties esse gese scent eng ER ee taninan gee De ekke ke Ge ge EE EEN EE Ke Ge 34 4 3 11 FIO TIP903 CANCEL MSG esse esse ee ee se ee ee ee ee de ee ee ee ee ee Ge AA Ge ee ee ee Re ee Ge AA ee ee 37 4 3 12 slee Iy AB N NE GE OE OR EE i nE 38 4 3 13 FIO TIP903 GAN STATUS esse se Es ee Ee ge Gee Se de ge ee de iia Ge Ede Ee ged ee de neil 40 APPENDIX se ie ie ae ee ee ae ee ee ee ee ie ee eie 41 5 1 Predetin d MACKS OE N AE OE EE ER N OE EE N HE 41 5 2 Predefined Status and Error Codes csssccsseeeeseeeseseeeseeeensneeeeeeeeseaesesnaesnseaeeeeneesseesaseeeeneeaeeses 42 TIP816 SW 42 VxWorks Device Driver Page 3 of 42 TENSE TECHNOLOGIES 1 Introduction 1 1 Device Driver The TIP903 SW 42 VxWorks device driver software allows the operation of the TIP903 IPAC conforming to the VxWorks I O system specification This includes a device independent basic I O interface with open close and ioctl functions This driver invokes a mutual exclusion and binary semaphore mechanism to prevent simultaneous requests by multiple tasks from interfering with each other To prevent the application program for losing data incoming messages will be stored in a message FIFO with a depth of 100 messages The TIP903 SW 42 device driver supports the fo
6. Handle error TIP816 SW 42 VxWorks Device Driver Page 13 of 42 TEWS amp TECHNOLOGIES RETURNS A device descriptor number or ERROR if the function fails an error code will be stored in errno ERROR CODES The error codes are stored in errno and can be read with the function errnoGet The error code is a standard error code set by the I O system see VxWorks Reference Manual SEE ALSO ioLib basic VO routine close TIP816 SW 42 VxWorks Device Driver Page 14 of 42 4 3 ioctl NAME ioctl performs an I O control function SYNOPSIS include tip903 h int ioctl int fd int request TIP903_IOCTL_ARG_T arg DESCRIPTION TEWS TECHNOLOGIES Special VO operation that do not fit to the standard basic VO calls read write will be performed by calling the ioctl function PARAMETER fd This file descriptor specifies the device to be used The file descriptor has been returned by the open function request This argument specifies the function that shall be executed Following functions are defined Function FIO TIP903 READ FIO TIP903 WRITE FIO TIP903 BITTIMING FIO TIP903 SETFILTER FIO TIP903 GETFILTER FIO TIP903 BUSON FIO TIP903 BUSOFF FIO TIP903 FLUSH FIO TIP903 DEFINE MSG FIO TIP903 UPDATE MSG FIO TIP903 CANCEL MSG FIO TIP903 STATUS TIP816 SW 42 VxWorks Device Driver Description Read CAN message Write CAN message Configure bit timing S
7. a TIP903 CNTRL ARGS structure typedef struct unsigned int cmd unsigned int flags unsigned long arg TIP903_CNTRL_ARGS cmd This parameter is not used for this function flags This parameter defines a flag field specifying the update type If the flag TIP903_ REMOTE is set the transmission will be started by a request of a remote node otherwise transmission of the message data starts immediately arg Is a pointer to a data structure T P903_MSGDEF defining the message object content typedef struct int MsgNum unsigned int identifier int extended int length unsigned char data 8 TIP903_ MSGDEF MsgNum This parameter specifies the number of the message object Allowed values are 1 13 and 15 Message object 14 is reserved for writing and can not be used identifier This parameter is not used for this function extended This parameter us not used for this function length This parameter specifies the length of the new data message 0 8 datal The array specifies the new message TIP816 SW 42 VxWorks Device Driver Page 34 of 42 TEWS E TECHNOLOGIES EXAMPLE include tip903 h int fd TIP903_CNTRL_ARGS dc TIP903_MSGDEF MsgDef int retval Update message object 3 and start transmission xf dc arg unsigned long amp MsgDef dc flags 0 MsgDef MsgNum 3 MsgDef data 0 tyty MsgDef length I retval ioctl fd FIO_TIP903_UPDATE_MSG TIP903
8. after the receive of a remote frame which matches with the identifier TIP903_ FLUSH 1 lt lt 3 Flush the read message FIFO TIP903_NOWAIT 1 lt lt 4 Do not wait if the device is blocked or no data are available for a read requests Return immediately after starting of transmission for write requests TIP903_THREE_SAMPLES 1 lt lt 5 Three samples are used for determining the valid bit value TIP816 SW 42 VxWorks Device Driver Page 41 of 42 TENSE TECHNOLOGIES 5 2 Predefined Status and Error Codes Error Code S_tip903Drv_IDLE S_tip903Drv_NXIO S_tip903Drv_IDEVICE S_tip903Drv_ICMD S_tip903Drv_NOTINIT S_tip903Drv_NOMEM S_tip903Drv_TIMEOUT S_tip903Drv_BUSY S_tip903Drv_NOSEM S_tip903Drv_NODATA S_tip903Drv_IPARAM S_tip903Drv_PARAM_MISMATCH S_tip903Drv_OVERRUN S_tip903Drv_BUSOFF S_tip903Drv_IMSGNUM S_tip903Drv_MSGBUSY S_tip903Drv_MSGNOTDEF TIP816 SW 42 VxWorks Device Driver Value 0x00000000 0x09030001 0x09030002 0x09030003 0x09030004 0x09030005 0x09030006 0x09030009 0x0903000A 0x09030010 0x09030013 0x09030014 0x09030015 0x09030016 0x09030017 0x09030018 0x09030019 Description Status of the message object is idle No TIP903 IP found at the specified base address Invalid or duplicate minor device number Unknown ioctl function code Device was not initialized Unable to allocate memory VO request times out Device or message object is busy Unable to create a semaph
9. fd TIP903_ACCEPT_MASKS AcceptMasks int retval Setup acceptance filter masks sy AcceptMasks GlobalMaskStandard AcceptMasks GlobalMask AcceptMasks retval ioctl fd FIO_TIP903_SETFILTER if retval else Extended ERROR Messagel5Mask function succeeded handle the error Oxfe00 Oxffffff80 Oxfffff800 bit 0 3 don t care bit 0 3 don t care bit 0 7 don t care TIP903_IOCTL_ARG_T amp AcceptMasks TIP816 SW 42 VxWorks Device Driver Page 23 of 42 TENSE TECHNOLOGIES 4 3 5 FIO_TIP903_GETFILTER This I O control function returns the contents of the acceptance filter masks of the CAN controller The function specific control parameter arg is a pointer on a T P903_ACCEPT_MASK structure typedef struct unsigned short GlobalMaskStandard unsigned int GlobalMaskExtended unsigned int Message15Mask TIP903_ACCEPT_MASKS GlobalMaskStandard This parameter returns the value of the Global Mask Standard Register The Global Mask Standard Register applies only to messages using the standard CAN identifier This 11 bit identifier appears in bit 5 15 of this parameter GlobalMaskExtended This parameter returns the value of the Global Mask Extended Register The Global Mask Extended Register applies only to messages using the extended CAN identifier This 29 bit identifier appears in bit 3 31 of this paramete
10. 03 CAN STATUS This I O control function the actual contents of the CAN Controller Status Register The function specific control parameter arg is a pointer to an unsigned long value that will receive the content of the status register EXAMPLE include tip903 h int td int retval unsigned long statVal Get contents of CAN Controller Status Register a retval ioctl fd FIO TIP903 CAN STATUS TIP903 IOCTL ARG T amp statVal if retval ERROR function succeeded else handle the error TIP816 SW 42 VxWorks Device Driver Page 40 of 42 TENSE TECHNOLOGIES 5 Appendix 5 1 Predefined Macros Bit Timing Definitions Name Value Speed Cable Length TIP903_1MBIT 0x0014 1 MBit s max cable length 36 m TIP903_500KBIT 0x001c 500 KBit s max cable length 130 m TIP903_250KBIT 0x011c 250 KBit s max cable length 270 m TIP903_125KBIT 0x031c 125 KBit s max cable length 530 m TIP903_100KBIT 0x432f 100 KBit s max cable length 620 m TIP903_50KBIT 0x472f 50 KBit s max cable length 1 3 km TIP903_20KBIT 0x532f 20 KBit s max cable length 3 3 km VO flags Definitions Name Value Description TIP903_ RECEIVE 1 lt lt 0 Message object direction is receive TIP903 TRANSMIT 1 lt lt 1 Message object direction is transmit TIP903_ REMOTE 1 lt lt 2 If direction is receive a remote frame will be transmitted If direction is transmit the message data will be send
11. 03 modules in the system are enumerated in ascending order beginning by 0 The order of TIP903 modules in the system depends on the search order of the IPAC carrier driver Example with two TIP903 modules in the system Device Index TIP903 CAN Channel 1 CAN channel on 1 TIP903 2 d CAN channel on 1 TIP903 3 CAN channel on 1 TIP903 1 CAN channel on 2 TIP903 2 4 CAN channel on 2 TIP903 3 4 CAN channel on 2 TIP903 OP OD AO TIP816 SW 42 VxWorks Device Driver Page 9 of 42 TEWS TECHNOLOGIES funcType This parameter is unused and should be set to 0 pParam This parameter is unused and should be set to NULL EXAMPLE include tip903 h STATUS result Create the device tip903 0 for the first CAN channel on the first TIP903 module sd result tip903DevCreate tip903 0 0 0 NULL if result ERROR Error occurred when creating the device RETURNS OK or ERROR If the function fails an error code will be stored in errno ERROR CODES The error codes are stored in errno and can be read with the function errnoGet Error code Description S_ioLib NO DRIVER The TIP903 driver has not been started EINVAL Input parameters are invalid EISCONN The device has been created already SEE ALSO VxWorks Programmer s Guide VO System TIP816 SW 42 VxWorks Device Driver Page 10 of 42 TEWS TECHNOLOGIES 41 O Functions 4 1 open NAME o
12. 903 h int fd TIP903_CNTRL_ARGS dc TIP903_MSGDEF MsgDef int retval Define message object 1 receive message object us xtended messag identifier wait for receiving of a message with specified identifier sy dc arg unsigned long amp MsgDef dc flags TIP903_RECEIVE MsgDef MsgNum 1 MsgDef identifier 10 MsgDef extended TRUE retval ioctl fd FIO_TIP903_DEFINE_MSG TIP903 IOCTL ARG T amp dc if retval ERROR function succeeded else handle the error Define message object 2 receive message object use standard message identifier send a remote frame to request a remote node to send the corresponding data Auf dc arg unsigned long amp MsgDef dc flags TIP903 RECEIVE TIP903 REMOTE MsgDef MsgNum 2 MsgDef identifier 100 TIP816 SW 42 VxWorks Device Driver Page 31 of 42 TEWS amp TECHNOLOGIES MsgDef extended FALSE retval ioctl fd FIO TIP903 DEFINE MSG TIP903 IOCTL ARG T amp dc if retval ERROR T function succeeded else handle the error Define message object 3 transmit message object use standard message identifier start transmission sy dc arg unsigned long amp MsgDef dc flags TIP903_TRANSMIT MsgDef MsgNum 3 MsgDef identifi
13. S TECHNOLOGIES 4 3 3 FIO_TIP903_BITTIMING This VO control function modifies the Bit Timing Register of the CAN controller The function specific control parameter arg is a pointer on a TIP903 CNTRL ARGS structure typedef struct unsigned int cmd unsigned int flags unsigned long arg TIP903_CNTRL_ARGS cmd This parameter is not used for this function flags This parameter defines a flag field Flag Description TIP903_ THREE SAMPLES the CAN bus is sampled three times per bit time instead of one time arg This parameter specifies the bit timing that will be set up The specified value will be loaded into the Intel 82527 CAN controllers Bus Timing Register 0 and Bus Timing Register 1 Predefined bit timing values can be found in tip903 h EXAMPLE include tip903 h int fd TIP903 CNTRL ARGS dc int retval Setup the transfer rate to 500 Kbit s dc arg TIP903_500KBIT dc flags 0 retval ioctl fd FIO_TIP903_BITTIMING TIP903_IOCTL_ARG_T amp dc if retval ERROR handle the error TIP816 SW 42 VxWorks Device Driver Page 21 of 42 TENSE TECHNOLOGIES 4 3 4 FIO_TIP903_SETFILTER This VO control function sets up acceptance filter masks of the CAN controller The acceptance masks allow message objects to receive messages with a range of message identifiers instead of just a single message identifier A 0 value means don t care or accept a
14. _IOCTL_ARG_T amp dc if retval ERROR function succeeded else handle the error TIP816 SW 42 VxWorks Device Driver Page 35 of 42 TEWS amp TECHNOLOGIES Update message object 4 Data will be sent by a request of a remote node dc arg unsigned long amp MsgDef dc flags TIP903 REMOTE MsgDef MsgNum 4 MsgDef data 0 1 MsgDef length 1 retval ioctl fd FIO_TIP903_UPDATE_MSG TIP903_IOCTL_ARG_T amp dc if retval ERROR function succeeded else handle the error ERROR CODES Error Code Description S_tip903Drv_IMSGNUM Invalid message number has been specified S_tip903Drv_MSGBUSY Transmission is active S_tip903Drv_MSGNOTDEF The message object has not been set up TIP816 SW 42 VxWorks Device Driver Page 36 of 42 TEWS TECHNOLOGIES 4 3 11 FIO TIP903 CANCEL MSG This VO control function marks a specified message object as invalid and stops communication transactions The function specific control parameter arg specifies the message object that shall be released Allowed message object numbers are 1 13 and 15 EXAMPLE include tip903 h int fd int retval Cancel message object 2 not longer used retval ioctl fd FIO TIP903 CANCEL MSG 2 if retval ERROR function succeeded else handle the error ERROR CODES Error
15. e requesting task will be blocked until a message is received or the request times out If the flag TIP903_NOWAIT is set read returns immediately typedef struct unsigned int flags int timeout unsigned int identifier int extended int length unsigned char data 8 TIP903 IO BUFFER flags This parameter defines a flag field used to control the read operation Flag Description TIP903 FLUSH a flush of the device message FIFO will be performed before initiating the read request TIP903 NOWAIT return immediately if the device is blocked by another FIO TIP903 READ request or no CAN message is available timeouts This parameter specifies the timeout interval in units of clock ticks A timeout value of 0 means wait indefinitely identifier This parameter returns the message identifier standard or extended of the message received extended This parameter returns TRUE if identifier is extended or FALSE if the identifier is standard length This parameter returns the size of message data received in bytes data This array will be filled with the received message data bytes TIP816 SW 42 VxWorks Device Driver Page 17 of 42 TEWS amp TECHNOLOGIES EXAMPLE include tip903 h int fd TIP903_IO_BUFFER rw int retval Read a message from a TIP903 device flush the input ring buffer before reading if there is no message in the read buffer the read request times o
16. e EER ek ED DnE See ER bee RR ESE EE 5 INSTALLATION EE EE anauia diada iadaa di iadaaa daadaa ai 6 2 1 Include Device Driver in VxWorks Projects see RE RR EER RR EE RR RR RE RE GR RR RE RE Ge RR RE Re Ge RR RE Re Ge AR EE Rea 6 2 2 System Resource Redguirement user esse ek Re AR KEER ER EE AR KA AR RAAR RR KEER KEER AR KRAAK Rae R ER Re AR Ke AR RA GR ER nnna 6 VO SYSTEM FUNCTIONS asses as aus ede a ae ewe see dude se dese ad sede 7 Bed est DEV RE N EE EE N EE EE EE N EE EE 7 3 2 tip903DevEreate EER EER Re ee GEE ee Ge ED Re ee Se de Ee ke es ke NEED RO De ee ee GE Ee ee 9 VO FUNCTIONS esse eise etes ee Ese eed ee eie ee ee se wt ee eb ee ee ee ee 11 Ee eN EE EE EE 11 EE EE EE EE EE N EE N 13 BS oe RE EE EE N EE EE EE ON OE EE EE EE 15 43 1 le Mil ER READ RE EE RE EE NE DREE EOE 17 4 32 FIO TIP903 WRITE nesen Press Ge see see Re Gee Ware ese RE DEER GREG ER SR Eg ERG Pa GEK Ds Ee Vee eed 19 43 3 FIO TIP903 BITTIMINGE Ese GEERF REG REED Fase Re Nee ea NE Se Red es DER andes Fa ek DNE See See ee De 21 43 4 FIO TIP903 SETEILTER esse iese ee e Ne ekke we ee gee a VERRE EER Gegee Re Ke Pa GEK Dee Ee e gese de DE 22 435 FIO TIP903 GETEITER em iese Reg esse dee ee GR e Se Reed Ges DER ER Ee ga oek bees ee gese ke EE 24 43 6 FIG TIP903 BUSON is ER Ese EER Re SR ct Was EER ap VERERGER eg Re Ge Pa GEK Dee Ee gee ee 26 43 7 FIO TIP903 BUSOEF Eise ees e Reg Heese dee an GR Ee see Reed bes DERE Ge ga oek bees ee gee eg 27 43 8 FIO TIP903
17. er 50 MsgDef extended FALSE MsgDef length 1 MsgDef data 0 x retval ioctl fd FIO_TIP903_DEFINE_MSG TIP903 IOCTL ARG T amp dc if retval ERROR function succeeded else handle the error TIP816 SW 42 VxWorks Device Driver Page 32 of 42 TEWS amp TECHNOLOGIES Define message object 4 transmit message object us xtended messag identifier start transmission if the corresponding remote frame same identifier was received dc arg unsigned long amp MsgDef dc flags TIP903_TRANSMIT TIP903_REMOTE MsgDef MsgNum 4 MsgDef identifier 500 MsgDef extended TRUE MsgDef length 1 MsgDef data 0 0 retval ioctl fd FIO_TIP903_DEFINE_MSG TIP903 IOCTL ARG T amp dc if retval ERROR function succeeded else handle the error ERROR CODES Error Code Description S_tip903Drv_IMSGNUM Invalid message number has been specified S_tip903Drv_MSGBUSY The message object is already in use S tip903Drv IPARAM Invalid flags or combinations specifies TIP816 SW 42 VxWorks Device Driver Page 33 of 42 TENSE TECHNOLOGIES 4 3 10 FIO_TIP903_UPDATE_MSG This I O control function updates only the message data of a previously defined transmission object or starts transmission of a remote frame for receive message objects The function specific control parameter arg is a pointer on
18. et acceptance filter Read acceptance filer Set controller to bus on state Set controller to bus off state Flush receive message FIFO Configure message object Update remote message object Cancel message object Read state of message object Page 15 of 42 TEWS TECHNOLOGIES FIO TIP9O03 CAN STATUS Read controller state arg This parameter depends on the selected function reguest How to use this parameter is described below with the function To use this driver similarly on 32 bit and 64 bit systems typecasts for the ioctl argument arg should performed with the predefined type TIP903 OCTL ARG T This type is declared to int on 32 bit systems and to _Vx_ioctl_arg_t long on 64 bit systems RETURNS OK or ERROR If the function fails an error code will be stored in errno ERROR CODES The error code can be read with the function errnoGet The error code is a standard error code set by the I O system see VxWorks Reference Manual Function specific error codes will be described with the function SEE ALSO ioLib basic VO routine ioctl TIP816 SW 42 VxWorks Device Driver Page 16 of 42 TENSE TECHNOLOGIES 4 3 1 FIO_TIP903_READ This I O control function reads a CAN message from the specified device The function specific control parameter arg is a pointer on a TIP903_IO_ BUFFER structure for this function If the device is blocked by another read request or no message is available in the read buffer th
19. evice Driver requires a properly installed IPAC Carrier Driver Due to the design of the Carrier Driver it is sufficient to install the IPAC Carrier Driver once even if multiple IPAC Device Drivers are used Please refer to the CARRIER SW 42 User Manual for a detailed description how to install and setup the CARRIER SW 42 device driver and for a description of the TEWS TECHNOLOGIES IPAC Carrier Driver concept TIP816 SW 42 VxWorks Device Driver Page 5 of 42 TEWS TECHNOLOGIES 2 Installation Following files are located on the distribution media Directory path TIP903 SW 42 tip903drv c TIP903 device driver source tip903def h TIP903 driver include file tip903 h TIP903 include file for driver and application tip903exa c Example application include ipac_carrier h Carrier driver interface definitions TIP903 SW 42 3 0 0 pdf PDF copy of this manual Release txt Release information ChangeLog txt Release history 2 1 Include Device Driver in VxWorks Projects For including the TIP903 SW 42 device driver into a VxWorks project e g Tornado IDE or Workbench follow the steps below 1 Copy needed files from the distribution media into a subdirectory to your project directory 2 Add the device drivers C files to your project Make a right click to your project in the Workspace window and use the Add Files topic A file select box appears and the driver files can be selected 3 Now the driver is i
20. is function is the first thing the user has to do before adding any device to the system or performing any VO request EXAMPLE include tip903 h STATUS result Initialize Driver result tip903Drv if result ERROR Error handling TIP816 SW 42 VxWorks Device Driver Page 7 of 42 TENSE TECHNOLOGIES RETURNS OK or ERROR If the function fails an error code will be stored in errno ERROR CODES Error codes are only set by system functions The error codes are stored in errno and can be read with the function errnoGet SEE ALSO VxWorks Programmer s Guide VO System TIP816 SW 42 VxWorks Device Driver Page 8 of 42 TEWS TECHNOLOGIES 3 2 tip903DevCreate NAME tip903DevCreate Add a TIP903 device to the VxWorks system SYNOPSIS include tip903 h STATUS tip903DevCreate char name int devidx int funcType void pParam DESCRIPTION This routine adds the selected device CAN channel to the VxWorks system The device hardware will be setup and prepared for use This function must be called before performing any I O request to this device PARAMETER name This string specifies the name of the device that will be used to identify the device for example for open calls devldx This parameter specifies the desired CAN channel Each TIP903 contains three independent CAN channels The CAN channels of all TIP9
21. is sent to request a remote node to send the corresponding data This is a transmit object The transmission of the message data starts immediately after definition of the message object This is also a transmit object but the transmission of the message data will be started if the corresponding remote frame same identifier was received Page 29 of 42 TENSE TECHNOLOGIES arg Is a pointer to a data structure T P903_MSGDEF defining the new message object content typedef struct int MsgNum unsigned int identifier int extended int length unsigned char data 8 TIP903 MSGDEF MsgNum This parameter specifies the number of the message object to define Allowed values are 1 13 and 15 Message object 14 is reserved for writing and can not be used identifier This parameter specifies the message identifier extended This parameter specifies if the message object shall be used with extended TRUE or standard FALSE identifiers length This parameter is only used for transmit objects The value specifies the length of the data message 0 8 datal This array is only used for transmit objects The array specifies the message that shall be sent A defined message object will be active until the VO control function FIO TIP903 CANCEL MSG marks it as invalid to stop communication transactions TIP816 SW 42 VxWorks Device Driver Page 30 of 42 TEWS E TECHNOLOGIES EXAMPLE include tip
22. llowing features extended and standard message frames acceptance filtering message objects remote frame requests etc support for legacy and VxBus IPAC carrier driver SMP Support 64 Bit Support VVVVVVV The TIP903 SW 42 supports the modules listed below TIP903 10 3 Channel Extended CAN Bus Industry Pack To get more information about the features and use of TIP903 devices it is recommended to read the manuals listed below TIP903 User manual TIP903 Engineering Manual CARRIER SW 42 IPAC Carrier User Manual Architectural Overview of the Intel 82527 CAN controller TIP816 SW 42 VxWorks Device Driver Page 4 of 42 TENSE TECHNOLOGIES 1 2 IPAC Carrier Driver IndustryPack IPAC carrier boards have different implementations of the system to IndustryPack bus bridge logic different implementations of interrupt and error handling and so on Also the different byte ordering big endian versus little endian of CPU boards will cause problems on accessing the IndustryPack I O and memory spaces To simplify the implementation of IPAC device drivers which work with any supported carrier board TEWS TECHNOLOGIES has designed a so called Carrier Driver that hides all differences of different carrier boards under a well defined interface The TEWS TECHNOLOGIES IPAC Carrier Driver CARRIER SW 42 is part of this TIP903 SW 42 distribution It is located in directory CARRIER SW 42 on the corresponding distribution media This IPAC D
23. ncluded in the project and will be built with the project For a more detailed description of the project facility please refer to your VxWorks User s Guide e g Tornado Workbench etc 2 2 System Resource Requirements The table gives an overview over the system resources that will be needed by the driver Resource Driver requirement Devices requirement Memory lt 1KB depends on FIFO size Stack lt 1KB Semaphores 0 4 Memory and Stack usage may differ from system to system depending on the used compiler and its setup The following formula shows the way to calculate the common requirements of the driver and devices lt total requirement gt lt driver requirement gt lt number of devices gt lt device requirement gt The maximum usage of some resources is limited by adjustable parameters If the application and driver exceed these limits increase the according values in your project TIP816 SW 42 VxWorks Device Driver Page 6 of 42 TENSE TECHNOLOGIES 31 0 System Functions This chapter describes the driver level interface to the I O system The purpose of these functions is to install the driver in the I O system add and initialize devices 3 1 tip903Drv NAME tip903Drv installs the TIP903 driver in the VO system SYNOPSIS include tip903 h STATUS tip903Drv void DESCRIPTION This function installs the TIP903 driver in the I O system A call to th
24. ore No data available only possible if TIP903_NOWAIT option selected Invalid device initialization data Mismatch of common initialization parameter Data overrun Controller is in bus off state Invalid message object number Message object already defined Message object not defined Page 42 of 42
25. pen open a device or file SYNOPSIS int open const char name int flags int mode DESCRIPTION Before I O can be performed to the TIP903 device a file descriptor must be opened by invoking the basic I O function open PARAMETER name Specifies the device which shall be opened the name specified in tip903DevCreate must be used flags Not used mode Not used TIP816 SW 42 VxWorks Device Driver Page 11 of 42 TEWS TECHNOLOGIES EXAMPLE int fd Open the device named tip903 0 for I O sy fd open tip903 0 0 0 if fd ERROR error handling RETURNS A device descriptor number or ERROR If the function fails an error code will be stored in errno ERROR CODES The error code can be read with the function errnoGet The error code is a standard error code set by the I O system see VxWorks Reference Manual SEE ALSO ioLib basic VO routine open TIP816 SW 42 VxWorks Device Driver Page 12 of 42 TEWS TECHNOLOGIES 4 2 close NAME close close a device or file SYNOPSIS int close int fd DESCRIPTION This function closes opened devices PARAMETER fd This file descriptor specifies the device to be closed The file descriptor has been returned by the open function EXAMPLE int fd int retval close the device Hef retval close fd if retval ERROR
26. r Message 15Mask This parameter returns the value of the Message 15 Mask Register The Message 15 Mask Register is a local mask for message object 15 This 29 bit identifier appears in bit 3 31 of this parameter The Message 15 Mask is ANDed with the Global Mask This means that any bit defined as don t care in the Global Mask will automatically be a don t care bit for message 15 see also Intel 82527 Architectural Overview TIP816 SW 42 VxWorks Device Driver Page 24 of 42 TEWS amp TECHNOLOGIES EXAMPLE include tip903 h int fd TIP903_ACCEPT_MASKS AcceptMasks int retval Get acceptance filter masks retval ioctl fd FIO TIP903 GETFILTER TIP903_IOCTL_ARG_T amp AcceptMasks if retval ERROR function succeeded printf AcceptMasks 04Xh 081Xh 081Xh n AcceptMasks GlobalMaskStandard AcceptMasks GlobalMaskExtended AcceptMasks Messagel5Mask else handle the error TIP816 SW 42 VxWorks Device Driver Page 25 of 42 TENSE TECHNOLOGIES 4 3 6 FIO_TIP903_BUSON This VO control function sets the CAN controller into bus on state The function specific control parameter arg is not used for this function After an abnormal rate of occurrences of errors on the CAN bus the CAN controller enters the bus off state This I O control function resets the init bit in the Control Register The CAN controller begins the bus off
27. recovery sequence The bus recovery sequence resets transmit and receive error counters If the CAN controller counts 128 packets of 11 consecutive recessive bits on the CAN bus the bus off state is quitted EXAMPLE include tip903 h int fd int retval Enter the bus on state uf retval ioctl fd FIO TIP903 BUSON 0 if retval ERROR function succeeded else handle the error ERROR CODES Error Code Description S tip903Drv BUSOFF The controller cannot be set to bus on TIP816 SW 42 VxWorks Device Driver Page 26 of 42 TEWS TECHNOLOGIES 4 3 7 FIO TIP903 BUSOFF This VO control function sets the CAN controller into bus off state The function specific control parameter arg is not used for this function After a successful execution of this control function the CAN controller is completely removed from the CAN bus and cannot communicate until the control function FIO TIP903 BUSON is executed Note A pending write operation will be cancelled by a timeout Execute this control function before the last close to the CAN controller channel EXAMPLE include tip903 h int fd int retval Enter the bus off state retval ioctl fd FIO TIP903 BUSOFF 0 if retval ERROR function succeeded else handle the error TIP816 SW 42 VxWorks Device Driver Page 27 of 42 TENSE TECHNOLOGIES
28. ut after 500 ticks r rw flags TIP903_FLUSH rw timeout 500 retval ioctl fd FIO_TIP903_READ TIP903_IOCTL_ARG_T amp rw if result ERROR rrnoGet S_tip903Drv_OVERRUN process received message and check for overrun condition else handle the read error ERROR CODES Error code Description S_tip903Drv_BUSOFF The device is in bus off state S_tip903Drv_BUSY The device is busy S_tip903Drv_TIMEOUT The request timed out S tip903Drv NODATA There is no data available S tip903Drv OVERRUN One or more messages was overwritten in the receive queue FIFO This problem occurs if the FIFO is too small for the application read interval TIP816 SW 42 VxWorks Device Driver Page 18 of 42 TEWS TECHNOLOGIES 4 3 2 FIO_TIP903_WRITE This I O control function writes a CAN message to specified device The function specific control parameter arg is a pointer on a TIP903 O BUFFER structure for this function If the device is blocked by another write reguest the reguesting task will be blocked until the reguest times out If the flag TIP903 NOWAIT is set write returns immediately typedef struct unsigned int flags int timeout unsigned int identifier int extended int length unsigned char dataf8l TIP903 IO BUFFER flags This parameter defines a flag field used to control the write operation Flag Description TIP903_NOWAIT Return immediately after
29. writing the data to the device and do not wait for an acknowledge of the message timeouts This parameter specifies the timeout interval in units of clock ticks A timeout value of 0 means wait indefinitely identifier This parameter specifies the message identifier standard or extended of the message extended This parameter specifies if an extended TRUE or standard FALSE message shall be sent length This parameter specifies the size of message data in bytes datal This array supplies the message data bytes TIP816 SW 42 VxWorks Device Driver Page 19 of 42 TENSE TECHNOLOGIES EXAMPLE include tip903 h define HELLO HELLOOOO int fd TIP903_IO_BUFFER rw int retval Write a message to a TIP903 device If there is a problem with the transmitter the write request times out xJ rw flags 0 rw timeout 100 ticks rw identifier 1234 extended identifier rw extended TRUE rw length 8 memcpy rw data HELLO 8 retval ioctl fd FIO_TIP903_WRITE TIP903_IOCTL_ARG_T amp rw if retval ERROR message successfully sent else handle the writ rror ERROR CODES Error Code Description S_tip903Drv_BUSOFF The device is in bus off state S tip903Drv IPARAM An invalid parameter value specified S tip903Drv TIMEOUT The reguest timed out TIP816 SW 42 VxWorks Device Driver Page 20 of 42 TEW
Download Pdf Manuals
Related Search