1 | /** |
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2 | * @file |
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3 | * @ingroup sparc_bsp |
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4 | * @defgroup can GRCAN |
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5 | * @ingroup can |
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6 | * @brief Macros used for grcan controller |
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7 | */ |
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8 | |
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9 | /* |
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10 | * COPYRIGHT (c) 2007. |
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11 | * Cobham Gaisler AB. |
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12 | * |
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13 | * The license and distribution terms for this file may be |
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14 | * found in the file LICENSE in this distribution or at |
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15 | * http://www.rtems.org/license/LICENSE. |
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16 | */ |
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17 | |
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18 | #ifndef __GRCAN_H__ |
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19 | #define __GRCAN_H__ |
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20 | |
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21 | #ifdef __cplusplus |
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22 | extern "C" { |
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23 | #endif |
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24 | |
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25 | struct grcan_regs { |
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26 | volatile unsigned int conf; /* 0x00 */ |
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27 | volatile unsigned int stat; /* 0x04 */ |
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28 | volatile unsigned int ctrl; /* 0x08 */ |
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29 | volatile unsigned int dummy0[3]; /* 0x0C-0x014 */ |
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30 | volatile unsigned int smask; /* 0x18 */ |
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31 | volatile unsigned int scode; /* 0x1C */ |
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32 | |
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33 | volatile unsigned int dummy1[56]; /* 0x20-0xFC */ |
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34 | |
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35 | volatile unsigned int pimsr; /* 0x100 */ |
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36 | volatile unsigned int pimr; /* 0x104 */ |
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37 | volatile unsigned int pisr; /* 0x108 */ |
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38 | volatile unsigned int pir; /* 0x10C */ |
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39 | volatile unsigned int imr; /* 0x110 */ |
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40 | volatile unsigned int picr; /* 0x114 */ |
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41 | |
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42 | volatile unsigned int dummy2[58]; /* 0x118-0x1FC */ |
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43 | |
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44 | volatile unsigned int tx0ctrl; /* 0x200 */ |
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45 | volatile unsigned int tx0addr; /* 0x204 */ |
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46 | volatile unsigned int tx0size; /* 0x208 */ |
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47 | volatile unsigned int tx0wr; /* 0x20C */ |
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48 | volatile unsigned int tx0rd; /* 0x210 */ |
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49 | volatile unsigned int tx0irq; /* 0x214 */ |
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50 | |
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51 | volatile unsigned int dummy3[58]; /* 0x218-0x2FC */ |
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52 | |
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53 | volatile unsigned int rx0ctrl; /* 0x300 */ |
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54 | volatile unsigned int rx0addr; /* 0x304 */ |
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55 | volatile unsigned int rx0size; /* 0x308 */ |
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56 | volatile unsigned int rx0wr; /* 0x30C */ |
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57 | volatile unsigned int rx0rd; /* 0x310 */ |
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58 | volatile unsigned int rx0irq; /* 0x314 */ |
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59 | volatile unsigned int rx0mask; /* 0x318 */ |
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60 | volatile unsigned int rx0code; /* 0x31C */ |
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61 | }; |
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62 | |
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63 | struct grcan_stats { |
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64 | unsigned int passive_cnt; |
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65 | unsigned int overrun_cnt; |
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66 | unsigned int rxsync_cnt; |
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67 | unsigned int txsync_cnt; |
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68 | unsigned int txloss_cnt; |
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69 | unsigned int ahberr_cnt; |
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70 | unsigned int ints; |
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71 | unsigned int busoff_cnt; |
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72 | }; |
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73 | |
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74 | struct grcan_timing { |
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75 | unsigned char scaler; |
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76 | unsigned char ps1; |
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77 | unsigned char ps2; |
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78 | unsigned int rsj; |
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79 | unsigned char bpr; |
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80 | }; |
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81 | |
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82 | struct grcan_selection { |
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83 | int selection; |
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84 | int enable0; |
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85 | int enable1; |
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86 | }; |
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87 | |
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88 | struct grcan_filter { |
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89 | unsigned long long mask; |
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90 | unsigned long long code; |
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91 | }; |
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92 | |
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93 | /* CAN MESSAGE */ |
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94 | typedef struct { |
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95 | char extended; /* 1= Extended Frame (29-bit id), 0= STD Frame (11-bit id) */ |
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96 | char rtr; /* RTR - Remote Transmission Request */ |
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97 | char unused; /* unused */ |
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98 | unsigned char len; |
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99 | unsigned char data[8]; |
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100 | unsigned int id; |
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101 | } CANMsg; |
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102 | |
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103 | enum { |
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104 | GRCAN_RET_OK = 0, |
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105 | GRCAN_RET_INVARG = -1, |
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106 | GRCAN_RET_NOTSTARTED = -2, |
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107 | GRCAN_RET_TIMEOUT = -3, |
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108 | /* Bus-off condition detected (request aborted by driver) */ |
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109 | GRCAN_RET_BUSOFF = -4, |
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110 | /* AHB error condition detected (request aborted by driver) */ |
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111 | GRCAN_RET_AHBERR = -5, |
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112 | }; |
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113 | |
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114 | /* |
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115 | * User functions can cause these transitions: |
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116 | * STATE_STOPPED -> STATE_STARTED |
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117 | * STATE_STARTED -> STATE_STOPPED |
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118 | * STATE_BUSOFF -> STATE_STOPPED |
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119 | * STATE_AHBERR -> STATE_STOPPED |
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120 | * |
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121 | * ISR can cause these transition |
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122 | * STATE_STARTED -> STATE_BUSOFF |
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123 | * STATE_STARTED -> STATE_AHBERR |
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124 | * |
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125 | * STATE_BUSOFF is entered from ISR on bus-off condition. STATE_AHBERR is |
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126 | * entered from ISR on AHB DMA errors on RX/TX operations. At transition the ISR |
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127 | * disables DMA, masks all interrupts and releases semaphores. |
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128 | */ |
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129 | enum grcan_state { |
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130 | STATE_STOPPED = 0, |
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131 | STATE_STARTED = 1, |
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132 | STATE_BUSOFF = 2, |
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133 | STATE_AHBERR = 3, |
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134 | }; |
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135 | |
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136 | #define GRCAN_CFG_ABORT 0x00000001 |
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137 | #define GRCAN_CFG_ENABLE0 0x00000002 |
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138 | #define GRCAN_CFG_ENABLE1 0x00000004 |
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139 | #define GRCAN_CFG_SELECTION 0x00000008 |
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140 | #define GRCAN_CFG_SILENT 0x00000010 |
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141 | #define GRCAN_CFG_BPR 0x00000300 |
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142 | #define GRCAN_CFG_RSJ 0x00007000 |
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143 | #define GRCAN_CFG_PS1 0x00f00000 |
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144 | #define GRCAN_CFG_PS2 0x000f0000 |
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145 | #define GRCAN_CFG_SCALER 0xff000000 |
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146 | |
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147 | #define GRCAN_CFG_BPR_BIT 8 |
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148 | #define GRCAN_CFG_RSJ_BIT 12 |
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149 | #define GRCAN_CFG_PS1_BIT 20 |
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150 | #define GRCAN_CFG_PS2_BIT 16 |
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151 | #define GRCAN_CFG_SCALER_BIT 24 |
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152 | |
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153 | #define GRCAN_CTRL_RESET 0x2 |
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154 | #define GRCAN_CTRL_ENABLE 0x1 |
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155 | |
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156 | #define GRCAN_TXCTRL_ENABLE 1 |
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157 | #define GRCAN_TXCTRL_ONGOING 1 |
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158 | |
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159 | #define GRCAN_RXCTRL_ENABLE 1 |
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160 | #define GRCAN_RXCTRL_ONGOING 1 |
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161 | |
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162 | /* Relative offset of IRQ sources to AMBA Plug&Play */ |
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163 | #define GRCAN_IRQ_IRQ 0 |
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164 | #define GRCAN_IRQ_TXSYNC 1 |
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165 | #define GRCAN_IRQ_RXSYNC 2 |
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166 | |
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167 | #define GRCAN_ERR_IRQ 0x1 |
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168 | #define GRCAN_OFF_IRQ 0x2 |
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169 | #define GRCAN_OR_IRQ 0x4 |
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170 | #define GRCAN_RXAHBERR_IRQ 0x8 |
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171 | #define GRCAN_TXAHBERR_IRQ 0x10 |
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172 | #define GRCAN_RXIRQ_IRQ 0x20 |
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173 | #define GRCAN_TXIRQ_IRQ 0x40 |
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174 | #define GRCAN_RXFULL_IRQ 0x80 |
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175 | #define GRCAN_TXEMPTY_IRQ 0x100 |
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176 | #define GRCAN_RX_IRQ 0x200 |
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177 | #define GRCAN_TX_IRQ 0x400 |
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178 | #define GRCAN_RXSYNC_IRQ 0x800 |
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179 | #define GRCAN_TXSYNC_IRQ 0x1000 |
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180 | #define GRCAN_RXERR_IRQ 0x2000 |
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181 | #define GRCAN_TXERR_IRQ 0x4000 |
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182 | #define GRCAN_RXMISS_IRQ 0x8000 |
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183 | #define GRCAN_TXLOSS_IRQ 0x10000 |
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184 | |
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185 | #define GRCAN_STAT_PASS 0x1 |
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186 | #define GRCAN_STAT_OFF 0x2 |
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187 | #define GRCAN_STAT_OR 0x4 |
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188 | #define GRCAN_STAT_AHBERR 0x8 |
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189 | #define GRCAN_STAT_ACTIVE 0x10 |
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190 | #define GRCAN_STAT_RXERRCNT 0xff00 |
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191 | #define GRCAN_STAT_TXERRCNT 0xff0000 |
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192 | |
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193 | /* |
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194 | * Return number of GRCAN devices available to driver |
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195 | */ |
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196 | extern int grcan_dev_count(void); |
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197 | |
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198 | /* |
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199 | * Open a GRCAN device |
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200 | * |
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201 | * dev_no: Device number to open |
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202 | * return: Device handle to use with all other grcan_ API functions. The |
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203 | * function returns NULL if device can not be opened. |
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204 | */ |
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205 | extern void *grcan_open(int dev_no); |
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206 | |
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207 | /* |
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208 | * Open a GRCAN device by name. Finds device index then calls |
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209 | * grcan_open(index). |
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210 | * |
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211 | * name: Device name to open |
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212 | * dev_no: Device number matching name. Will be set if device found. |
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213 | * return: Device handle to use with all other grcan_ API functions. The |
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214 | * function returns NULL if device can not be opened or not found. |
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215 | */ |
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216 | extern void *grcan_open_by_name(char *name, int *dev_no); |
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217 | |
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218 | /* |
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219 | * Close a GRCAN device |
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220 | * |
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221 | * return: This function always returns 0 (success) |
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222 | */ |
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223 | extern int grcan_close(void *d); |
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224 | |
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225 | /* |
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226 | * Receive CAN messages |
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227 | * |
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228 | * Multiple CAN messages can be received in one call. |
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229 | * |
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230 | * d: Device handle |
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231 | * msg: Pointer to receive messages |
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232 | * count: Number of CAN messages to receive |
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233 | * |
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234 | * return: |
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235 | * >=0: Number of CAN messages received. This can be |
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236 | * less than the count parameter. |
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237 | * GRCAN_RET_INVARG: count parameter less than one or NULL msg. |
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238 | * GRCAN_RET_NOTSTARTED: Device not in started mode |
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239 | * GRCAN_RET_TIMEOUT: Timeout in non-blocking mode |
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240 | * GRCAN_RET_BUSOFF: A read was interrupted by a bus-off error. |
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241 | * Device has left started mode. |
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242 | * GRCAN_RET_AHBERR: Similar to BUSOFF, but was caused by AHB Error. |
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243 | */ |
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244 | extern int grcan_read( |
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245 | void *d, |
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246 | CANMsg *msg, |
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247 | size_t count |
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248 | ); |
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249 | |
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250 | /* |
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251 | * Transmit CAN messages |
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252 | * |
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253 | * Multiple CAN messages can be transmit in one call. |
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254 | * |
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255 | * d: Device handle |
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256 | * msg: Pointer to messages to transmit |
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257 | * count: Number of CAN messages to transmit |
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258 | * |
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259 | * return: |
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260 | * >=0: Number of CAN messages transmitted. This can be |
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261 | * less than the count parameter. |
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262 | * GRCAN_RET_INVARG: count parameter less than one. |
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263 | * GRCAN_RET_NOTSTARTED: Device not in started mode |
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264 | * GRCAN_RET_TIMEOUT: Timeout in non-blocking mode |
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265 | * GRCAN_RET_BUSOFF: A write was interrupted by a Bus-off error. |
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266 | * Device has left started mode |
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267 | * GRCAN_RET_AHBERR: Similar to BUSOFF, but was caused by AHB Error. |
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268 | */ |
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269 | extern int grcan_write( |
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270 | void *d, |
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271 | CANMsg *msg, |
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272 | size_t count |
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273 | ); |
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274 | |
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275 | /* |
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276 | * Returns current GRCAN software state |
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277 | * |
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278 | * If STATE_BUSOFF or STATE_AHBERR is returned then the function grcan_stop() |
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279 | * shall be called before continue using the driver. |
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280 | * |
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281 | * d: Device handle |
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282 | * return: |
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283 | * STATE_STOPPED Stopped |
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284 | * STATE_STARTED Started |
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285 | * STATE_BUSOFF Bus-off has been detected |
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286 | * STATE_AHBERR AHB error has been detected |
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287 | */ |
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288 | extern int grcan_get_state(void *d); |
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289 | |
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290 | /* The remaining functions return 0 on success and non-zero on failure. */ |
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291 | |
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292 | /* Functions controlling operational |
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293 | * mode |
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294 | */ |
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295 | /* Bring the link up after open or bus-off */ |
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296 | extern int grcan_start(void *d); |
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297 | /* stop to change baud rate/config or closing down */ |
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298 | extern int grcan_stop(void *d); |
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299 | /* Wait until all TX messages have been sent */ |
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300 | extern int grcan_flush(void *d); |
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301 | |
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302 | /* Functions that require connection |
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303 | * to be stopped |
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304 | */ |
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305 | /* enable silent mode read only state */ |
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306 | extern int grcan_set_silent(void *d, int silent); |
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307 | /* enable/disable stopping link on AHB Error */ |
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308 | extern int grcan_set_abort(void *d, int abort); |
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309 | /* Set Enable0,Enable1,Selection */ |
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310 | extern int grcan_set_selection(void *d, const struct grcan_selection *selection); |
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311 | /* Set baudrate by using driver's baud rate timing calculation routines */ |
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312 | extern int grcan_set_speed(void *d, unsigned int hz); |
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313 | /* Set baudrate by specifying the timing registers manually */ |
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314 | extern int grcan_set_btrs(void *d, const struct grcan_timing *timing); |
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315 | |
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316 | /* Functions can be called whenever */ |
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317 | /* Enable/disable Blocking on reception (until at least one message has been received) */ |
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318 | int grcan_set_rxblock(void* d, int block); |
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319 | /* Enable/disable Blocking on transmission (until at least one message has been transmitted) */ |
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320 | int grcan_set_txblock(void* d, int block); |
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321 | /* Enable/disable Blocking until all requested messages has been sent */ |
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322 | int grcan_set_txcomplete(void* d, int complete); |
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323 | /* Enable/disable Blocking until all requested has been received */ |
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324 | int grcan_set_rxcomplete(void* d, int complete); |
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325 | /* Get statistics */ |
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326 | extern int grcan_get_stats(void *d, struct grcan_stats *stats); |
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327 | /* Clear statistics */ |
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328 | extern int grcan_clr_stats(void *d); |
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329 | /* Set Acceptance filters, provide pointer to "struct grcan_filter" or NULL to disable filtering (let all messages pass) */ |
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330 | extern int grcan_set_afilter(void *d, const struct grcan_filter *filter); |
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331 | /* Set Sync Messages RX/TX filters, NULL disables the IRQ completely */ |
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332 | extern int grcan_set_sfilter(void *d, const struct grcan_filter *filter); |
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333 | /* Get status register of GRCAN core */ |
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334 | extern int grcan_get_status(void *d, unsigned int *status); |
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335 | |
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336 | void grcan_register_drv(void); |
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337 | |
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338 | #ifdef __cplusplus |
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339 | } |
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340 | #endif |
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341 | |
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342 | #endif |
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