Merge pull request #514 from BernardXiong/master

[DeviceDrivers] code cleanup for CAN driver and fix some critical issue

components/drivers/include/drivers/can.h

@@ -3,80 +3,76 @@
  * This file is part of RT-Thread RTOS
  * COPYRIGHT (C) 2015, RT-Thread Development Team
  *
- * The license and distribution terms for this file may be
- * found in the file LICENSE in this distribution or at
- * http://www.rt-thread.org/license/LICENSE
+ *  This program is free software; you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation; either version 2 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program 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 General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License along
+ *  with this program; if not, write to the Free Software Foundation, Inc.,
+ *  51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
  *
  * Change Logs:
- * Date           Author       		Notes
- * 2015-05-14     aubrcool@qq.com 	first version
+ * Date           Author            Notes
+ * 2015-05-14     aubrcool@qq.com   first version
+ * 2015-07-06     Bernard           remove RT_CAN_USING_LED.
  */
+
 #ifndef CAN_H_
 #define CAN_H_
 
 #include <rtthread.h>
 
 #ifndef RT_CANMSG_BOX_SZ
-#define RT_CANMSG_BOX_SZ 16
+#define RT_CANMSG_BOX_SZ    16
 #endif
 #ifndef RT_CANSND_BOX_NUM
-#define RT_CANSND_BOX_NUM 1
+#define RT_CANSND_BOX_NUM   1
 #endif
 
 enum CANBAUD
 {
-        CAN1MBaud=0,    // 1 MBit/sec
-        CAN800kBaud,    // 800 kBit/sec
-        CAN500kBaud,    // 500 kBit/sec
-        CAN250kBaud,    // 250 kBit/sec
-        CAN125kBaud,    // 125 kBit/sec
-        CAN100kBaud,    // 100 kBit/sec
-        CAN50kBaud,     // 50 kBit/sec
-        CAN20kBaud,     // 20 kBit/sec
-        CAN10kBaud      // 10 kBit/sec
+    CAN1MBaud = 0,  /* 1 MBit/sec   */
+    CAN800kBaud,    /* 800 kBit/sec */
+    CAN500kBaud,    /* 500 kBit/sec */
+    CAN250kBaud,    /* 250 kBit/sec */
+    CAN125kBaud,    /* 125 kBit/sec */
+    CAN100kBaud,    /* 100 kBit/sec */
+    CAN50kBaud,     /* 50 kBit/sec  */
+    CAN20kBaud,     /* 20 kBit/sec  */
+    CAN10kBaud      /* 10 kBit/sec  */
 };
-#define RT_CAN_MODE_NORMAL 0
-#define RT_CAN_MODE_LISEN 1
-#define RT_CAN_MODE_LOOPBACK 2
-#define RT_CAN_MODE_LOOPBACKANLISEN 3
 
-#define RT_CAN_MODE_PRIV 0x01
-#define RT_CAN_MODE_NOPRIV 0x00
+#define RT_CAN_MODE_NORMAL              0
+#define RT_CAN_MODE_LISEN               1
+#define RT_CAN_MODE_LOOPBACK            2
+#define RT_CAN_MODE_LOOPBACKANLISEN     3
 
-#ifdef RT_CAN_USING_LED
-struct  rt_can_led
-{
-        rt_uint32_t pin,mode,init;
-        struct rt_timer* timer;
-        const char* timer_name;
-};
-#endif /*RT_CAN_USING_LED*/
+#define RT_CAN_MODE_PRIV                0x01
+#define RT_CAN_MODE_NOPRIV              0x00
 
 struct rt_can_filter_item
 {
-        rt_uint32_t id  :29;
-        rt_uint32_t ide :1;
-        rt_uint32_t rtr :1;
-        rt_uint32_t mode :1;
-        rt_uint32_t mask;
-        rt_int32_t hdr;
+    rt_uint32_t id  : 29;
+    rt_uint32_t ide : 1;
+    rt_uint32_t rtr : 1;
+    rt_uint32_t mode : 1;
+    rt_uint32_t mask;
+    rt_int32_t hdr;
 #ifdef RT_CAN_USING_HDR
-        rt_err_t  (*ind)(rt_device_t dev, void* args ,rt_int32_t hdr, rt_size_t size);
-	      void* args;
+    rt_err_t (*ind)(rt_device_t dev, void *args , rt_int32_t hdr, rt_size_t size);
+    void *args;
 #endif /*RT_CAN_USING_HDR*/
 };
+
 #ifdef RT_CAN_USING_HDR
 #define RT_CAN_FILTER_ITEM_INIT(id,ide,rtr,mode,mask,ind,args) \
-     {\
-         id,\
-         ide,\
-         rtr,\
-         mode,\
-         mask,\
-         -1,\
-         ind,\
-         args,\
-     }
+     {(id), (ide), (rtr), (mode), (mask), -1, (ind), (args)}
 #define RT_CAN_FILTER_STD_INIT(id,ind,args) \
      RT_CAN_FILTER_ITEM_INIT(id,0,0,0,0xFFFFFFFF,ind,args)
 #define RT_CAN_FILTER_EXT_INIT(id,ind,args) \
@@ -90,15 +86,9 @@ struct rt_can_filter_item
 #define RT_CAN_EXT_RMT_DATA_FILTER_INIT(id,ind,args) \
      RT_CAN_FILTER_ITEM_INIT(id,1,0,1,0xFFFFFFFF,ind,args)
 #else
+
 #define RT_CAN_FILTER_ITEM_INIT(id,ide,rtr,mode,mask) \
-     {\
-         id,\
-         ide,\
-         rtr,\
-         mode,\
-         mask,\
-         -1,\
-     }
+     {(id), (ide), (rtr), (mode), (mask), -1, }
 #define RT_CAN_FILTER_STD_INIT(id) \
      RT_CAN_FILTER_ITEM_INIT(id,0,0,0,0xFFFFFFFF)
 #define RT_CAN_FILTER_EXT_INIT(id) \
@@ -115,26 +105,22 @@ struct rt_can_filter_item
 
 struct rt_can_filter_config
 {
-        rt_uint32_t count;
-        rt_uint32_t actived;
-        struct rt_can_filter_item* items;
+    rt_uint32_t count;
+    rt_uint32_t actived;
+    struct rt_can_filter_item *items;
 };
+
 struct can_configure
 {
-        rt_uint32_t baud_rate;
-        rt_uint32_t msgboxsz;
-        rt_uint32_t sndboxnumber;
-        rt_uint32_t mode      :8;
-        rt_uint32_t privmode  :8;
-        rt_uint32_t reserved  :16;
-        #ifdef RT_CAN_USING_LED
-        const struct rt_can_led* rcvled;
-        const struct rt_can_led* sndled;
-        const struct rt_can_led* errled;
-        #endif  /*RT_CAN_USING_LED*/
-        rt_uint32_t ticks;
+    rt_uint32_t baud_rate;
+    rt_uint32_t msgboxsz;
+    rt_uint32_t sndboxnumber;
+    rt_uint32_t mode      : 8;
+    rt_uint32_t privmode  : 8;
+    rt_uint32_t reserved  : 16;
+    rt_uint32_t ticks;
 #ifdef RT_CAN_USING_HDR
-        rt_uint32_t maxhdr;
+    rt_uint32_t maxhdr;
 #endif
 };
 
@@ -147,80 +133,88 @@ struct can_configure
 };
 
 struct rt_can_ops;
-#define RT_CAN_CMD_SET_FILTER      0x13
-#define RT_CAN_CMD_SET_BAUD        0x14
-#define RT_CAN_CMD_SET_MODE        0x15
-#define RT_CAN_CMD_SET_PRIV        0x16
-#define RT_CAN_CMD_GET_STATUS      0x17
-#define RT_CAN_CMD_SET_STATUS_IND  0x18
+#define RT_CAN_CMD_SET_FILTER       0x13
+#define RT_CAN_CMD_SET_BAUD         0x14
+#define RT_CAN_CMD_SET_MODE         0x15
+#define RT_CAN_CMD_SET_PRIV         0x16
+#define RT_CAN_CMD_GET_STATUS       0x17
+#define RT_CAN_CMD_SET_STATUS_IND   0x18
 
-#define RT_DEVICE_CAN_INT_ERR  0x1000
+#define RT_DEVICE_CAN_INT_ERR       0x1000
 
 enum RT_CAN_STATUS_MODE
 {
-        NORMAL = 0,
-        ERRWARNING = 1,
-        ERRPASSIVE = 2,
-        BUSOFF = 4,
+    NORMAL = 0,
+    ERRWARNING = 1,
+    ERRPASSIVE = 2,
+    BUSOFF = 4,
 };
 enum RT_CAN_BUS_ERR
 {
-        RT_CAN_BUS_NO_ERR = 0,
-        RT_CAN_BUS_BIT_PAD_ERR = 1,
-        RT_CAN_BUS_FORMAT_ERR = 2,
-        RT_CAN_BUS_ACK_ERR = 3,
-        RT_CAN_BUS_IMPLICIT_BIT_ERR = 4,
-        RT_CAN_BUS_EXPLICIT_BIT_ERR = 5,
-        RT_CAN_BUS_CRC_ERR = 6,
+    RT_CAN_BUS_NO_ERR = 0,
+    RT_CAN_BUS_BIT_PAD_ERR = 1,
+    RT_CAN_BUS_FORMAT_ERR = 2,
+    RT_CAN_BUS_ACK_ERR = 3,
+    RT_CAN_BUS_IMPLICIT_BIT_ERR = 4,
+    RT_CAN_BUS_EXPLICIT_BIT_ERR = 5,
+    RT_CAN_BUS_CRC_ERR = 6,
 };
+
 struct rt_can_status
 {
-        rt_uint32_t rcverrcnt;
-        rt_uint32_t snderrcnt;
-        rt_uint32_t errcode;
-        rt_uint32_t rcvpkg;
-        rt_uint32_t dropedrcvpkg;
-        rt_uint32_t sndpkg;
-        rt_uint32_t dropedsndpkg;
-        rt_uint32_t bitpaderrcnt;
-        rt_uint32_t formaterrcnt;
-        rt_uint32_t ackerrcnt;
-        rt_uint32_t biterrcnt;
-        rt_uint32_t crcerrcnt;
-        rt_uint32_t rcvchange;
-        rt_uint32_t sndchange;
-        rt_uint32_t lasterrtype;
+    rt_uint32_t rcverrcnt;
+    rt_uint32_t snderrcnt;
+    rt_uint32_t errcode;
+    rt_uint32_t rcvpkg;
+    rt_uint32_t dropedrcvpkg;
+    rt_uint32_t sndpkg;
+    rt_uint32_t dropedsndpkg;
+    rt_uint32_t bitpaderrcnt;
+    rt_uint32_t formaterrcnt;
+    rt_uint32_t ackerrcnt;
+    rt_uint32_t biterrcnt;
+    rt_uint32_t crcerrcnt;
+    rt_uint32_t rcvchange;
+    rt_uint32_t sndchange;
+    rt_uint32_t lasterrtype;
 };
+
 #ifdef RT_CAN_USING_HDR
-struct rt_can_hdr {
-        rt_uint32_t connected;
-        rt_uint32_t msgs;
-        struct rt_can_filter_item filter;
-        struct rt_list_node list;
+struct rt_can_hdr
+{
+    rt_uint32_t connected;
+    rt_uint32_t msgs;
+    struct rt_can_filter_item filter;
+    struct rt_list_node list;
 };
 #endif
 struct rt_can_device;
-typedef rt_err_t (*rt_canstatus_ind)(struct rt_can_device*, void*);
+typedef rt_err_t (*rt_canstatus_ind)(struct rt_can_device *, void *);
 typedef struct rt_can_status_ind_type
 {
     rt_canstatus_ind ind;
-    void* args;
+    void *args;
 } *rt_can_status_ind_type_t;
+
 struct rt_can_device
 {
-        struct rt_device          parent;
-
-        const struct rt_can_ops *ops;
-        struct can_configure   config;
-        struct rt_can_status   status;
-        rt_uint32_t timerinitflag;
-        struct rt_timer timer;
-        struct rt_can_status_ind_type status_indicate;
+    struct rt_device parent;
+
+    const struct rt_can_ops *ops;
+    struct can_configure config;
+    struct rt_can_status status;
+
+    rt_uint32_t timerinitflag;
+    struct rt_timer timer;
+
+    struct rt_can_status_ind_type status_indicate;
 #ifdef RT_CAN_USING_HDR
-        struct rt_can_hdr* hdr;
+    struct rt_can_hdr *hdr;
 #endif
-        void *can_rx;
-	void *can_tx;
+
+    struct rt_mutex lock;
+    void *can_rx;
+    void *can_tx;
 };
 typedef struct rt_can_device *rt_can_t;
 
@@ -229,68 +223,76 @@ typedef struct rt_can_device *rt_can_t;
 #define RT_CAN_DTR   0
 #define RT_CAN_RTR   1
 
-typedef struct rt_can_status * rt_can_status_t;
+typedef struct rt_can_status *rt_can_status_t;
 struct rt_can_msg
 {
-        rt_uint32_t id  :29;
-        rt_uint32_t ide :1;
-        rt_uint32_t rtr :1;
-        rt_uint32_t rsv :1;
-        rt_uint32_t len :8;
-        rt_uint32_t priv :8;
-        rt_uint32_t hdr :8;
-        rt_uint32_t reserved :8;
-        rt_uint8_t data[8];
+    rt_uint32_t id  : 29;
+    rt_uint32_t ide : 1;
+    rt_uint32_t rtr : 1;
+    rt_uint32_t rsv : 1;
+    rt_uint32_t len : 8;
+    rt_uint32_t priv : 8;
+    rt_uint32_t hdr : 8;
+    rt_uint32_t reserved : 8;
+    rt_uint8_t data[8];
 };
-typedef struct rt_can_msg* rt_can_msg_t;
-struct rt_can_msg_list {
-        struct rt_list_node list;
+typedef struct rt_can_msg *rt_can_msg_t;
+
+struct rt_can_msg_list
+{
+    struct rt_list_node list;
 #ifdef RT_CAN_USING_HDR
-        struct rt_list_node hdrlist;
-        struct rt_can_hdr* owner;
+    struct rt_list_node hdrlist;
+    struct rt_can_hdr *owner;
 #endif
-        struct rt_can_msg data;
+    struct rt_can_msg data;
 };
+
 struct rt_can_rx_fifo
 {
-	/* software fifo */
-	struct rt_can_msg_list *buffer;
-        rt_uint32_t freenumbers;
-        struct rt_list_node freelist;
-        struct rt_list_node uselist;
+    /* software fifo */
+    struct rt_can_msg_list *buffer;
+    rt_uint32_t freenumbers;
+    struct rt_list_node freelist;
+    struct rt_list_node uselist;
 };
 
-#define RT_CAN__SND_RESUTL_OK 0
-#define RT_CAN__SND_RESUTL_ERR 1
-#define RT_CAN__SND_RESUTL_WAIT 2
+#define RT_CAN_SND_RESULT_OK        0
+#define RT_CAN_SND_RESULT_ERR       1
+#define RT_CAN_SND_RESULT_WAIT      2
 
-#define RT_CAN_EVENT_RX_IND          0x01    /* Rx indication */
-#define RT_CAN_EVENT_TX_DONE         0x02    /* Tx complete   */
-#define RT_CAN_EVENT_TX_FAIL         0x03    /* Tx complete   */
-#define RT_CAN_EVENT_RX_TIMEOUT      0x05    /* Rx timeout    */
-#define RT_CAN_EVENT_RXOF_IND        0x06    /* Rx overflow */
+#define RT_CAN_EVENT_RX_IND         0x01    /* Rx indication */
+#define RT_CAN_EVENT_TX_DONE        0x02    /* Tx complete   */
+#define RT_CAN_EVENT_TX_FAIL        0x03    /* Tx complete   */
+#define RT_CAN_EVENT_RX_TIMEOUT     0x05    /* Rx timeout    */
+#define RT_CAN_EVENT_RXOF_IND       0x06    /* Rx overflow */
 
-struct rt_can_sndbxinx_list {
-        struct rt_list_node list;
-        struct rt_completion completion;
-        rt_uint32_t result;
+struct rt_can_sndbxinx_list
+{
+    struct rt_list_node list;
+    struct rt_completion completion;
+    rt_uint32_t result;
 };
+
 struct rt_can_tx_fifo
 {
-  	struct rt_can_sndbxinx_list *buffer;
-	struct rt_completion completion;
-        struct rt_list_node freelist;
+    struct rt_can_sndbxinx_list *buffer;
+    struct rt_completion completion;
+    struct rt_list_node freelist;
 };
+
 struct rt_can_ops
 {
-        rt_err_t (*configure)(struct rt_can_device *can, struct can_configure *cfg);
-        rt_err_t (*control)(struct rt_can_device *can, int cmd, void *arg);
-        int (*sendmsg)(struct rt_can_device *can, const void* buf, rt_uint32_t boxno);
-        int (*recvmsg)(struct rt_can_device *can,void* buf, rt_uint32_t boxno);
+    rt_err_t (*configure)(struct rt_can_device *can, struct can_configure *cfg);
+    rt_err_t (*control)(struct rt_can_device *can, int cmd, void *arg);
+    int (*sendmsg)(struct rt_can_device *can, const void *buf, rt_uint32_t boxno);
+    int (*recvmsg)(struct rt_can_device *can, void *buf, rt_uint32_t boxno);
 };
+
 rt_err_t rt_hw_can_register(struct rt_can_device *can,
-                               const char              *name,
-                               const struct rt_can_ops *ops,
-                               void                    *data);
+                            const char              *name,
+                            const struct rt_can_ops *ops,
+                            void                    *data);
 void rt_hw_can_isr(struct rt_can_device *can, int event);
 #endif /*_CAN_H*/
+