1 | /*===============================================================*\ |
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2 | | Project: RTEMS generic MPC5200 BSP | |
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3 | +-----------------------------------------------------------------+ |
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4 | | Copyright (c) 2005 | |
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5 | | Embedded Brains GmbH | |
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6 | | Obere Lagerstr. 30 | |
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7 | | D-82178 Puchheim | |
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8 | | Germany | |
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9 | | rtems@embedded-brains.de | |
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10 | +-----------------------------------------------------------------+ |
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11 | | The license and distribution terms for this file may be | |
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12 | | found in the file LICENSE in this distribution or at | |
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13 | | | |
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14 | | http://www.rtems.com/license/LICENSE. | |
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15 | | | |
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16 | +-----------------------------------------------------------------+ |
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17 | | this file contains the MSCAN driver | |
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18 | \*===============================================================*/ |
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19 | |
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20 | #include <stdio.h> |
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21 | #include <stdlib.h> |
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22 | #include <rtems.h> |
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23 | #include <rtems/error.h> |
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24 | #include <rtems/libio.h> |
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25 | #include <string.h> |
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26 | #include "../include/bsp.h" |
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27 | #include "../irq/irq.h" |
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28 | #include "../include/mpc5200.h" |
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29 | #include "../mscan/mscan_int.h" |
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30 | |
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31 | /* #define MSCAN_LOOPBACK */ |
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32 | |
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33 | struct mpc5200_rx_cntrl mpc5200_mscan_rx_cntrl[MPC5200_CAN_NO]; |
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34 | static struct mscan_channel_info chan_info[MPC5200_CAN_NO]; |
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35 | |
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36 | /* time segmant table */ |
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37 | uint8_t can_time_segment_table[CAN_MAX_NO_OF_TQ - MIN_NO_OF_TQ + 1][NO_OF_TABLE_ENTRIES] = { |
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38 | |
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39 | /* Total no. of time quantas */ /* Time Segment 1*/ /* Time Segment 2 */ /* Sync: Jump width */ |
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40 | { 7, 4, 2, 1 }, |
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41 | { 8, 5, 2, 1 }, |
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42 | { 9, 6, 2, 2 }, |
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43 | { 10, 6, 3, 2 }, |
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44 | { 11, 7, 3, 2 }, |
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45 | { 12, 8, 3, 2 }, |
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46 | { 13, 8, 4, 2 }, |
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47 | { 14, 9, 4, 2 }, |
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48 | { 15, 10, 4, 2 }, |
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49 | { 16, 10, 5, 2 }, |
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50 | { 17, 11, 5, 2 }, |
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51 | { 18, 12, 5, 2 }, |
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52 | { 19, 12, 6, 2 }, |
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53 | { 20, 13, 6, 2 }, |
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54 | { 21, 14, 6, 2 }, |
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55 | { 22, 14, 7, 2 }, |
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56 | { 23, 15, 7, 2 }, |
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57 | { 24, 15, 8, 2 }, |
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58 | { 25, 16, 8, 2 }}; |
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59 | |
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60 | |
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61 | /* |
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62 | * MPC5x00 MSCAN tx ring buffer function to get a can message buffer from the head of the tx ring buffer |
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63 | */ |
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64 | static struct can_message * get_tx_buffer(struct mscan_channel_info *chan) |
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65 | { |
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66 | /* define a temp. mess ptr. */ |
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67 | struct can_message * tmp_mess_ptr = NULL, *temp_head_ptr; |
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68 | |
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69 | /* set temp. head pointer */ |
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70 | temp_head_ptr = chan->tx_ring_buf.head_ptr; |
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71 | |
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72 | /* check buffer empty condition */ |
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73 | if(temp_head_ptr != chan->tx_ring_buf.tail_ptr) |
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74 | { |
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75 | |
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76 | /* current buffer head. ptr. */ |
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77 | tmp_mess_ptr = temp_head_ptr; |
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78 | |
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79 | /* increment the head pointer */ |
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80 | temp_head_ptr++; |
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81 | |
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82 | /* check for wrap around condition */ |
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83 | if(temp_head_ptr > chan->tx_ring_buf.buf_ptr + NO_OF_MSCAN_TX_BUFF) |
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84 | { |
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85 | |
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86 | /* set head ptr. to the begin of the ring buffer */ |
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87 | temp_head_ptr = chan->tx_ring_buf.buf_ptr; |
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88 | |
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89 | } |
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90 | |
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91 | /* end of crtical section restore head ptr. */ |
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92 | chan->tx_ring_buf.head_ptr = temp_head_ptr; |
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93 | } |
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94 | |
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95 | /* return the current head pointer */ |
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96 | return tmp_mess_ptr; |
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97 | } |
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98 | |
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99 | /* |
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100 | * MPC5x00 MSCAN tx ring buffer function to write a can message buffer to the tail of the tx ring buffer |
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101 | */ |
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102 | static struct can_message * fill_tx_buffer(struct mscan_channel_info *chan, struct can_message * mess_ptr) |
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103 | { |
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104 | /* define a temp. mess ptr. to the entry which follows the current tail entry */ |
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105 | struct can_message * tmp_mess_ptr = chan->tx_ring_buf.tail_ptr + 1; |
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106 | |
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107 | /* check for the wrap around condition */ |
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108 | if(tmp_mess_ptr > chan->tx_ring_buf.buf_ptr + NO_OF_MSCAN_TX_BUFF) |
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109 | { |
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110 | /* set temp. mess. ptr to the begin of the ring buffer */ |
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111 | tmp_mess_ptr = chan->tx_ring_buf.buf_ptr; |
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112 | } |
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113 | |
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114 | /* check buffer full condition */ |
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115 | if(tmp_mess_ptr == chan->tx_ring_buf.head_ptr) |
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116 | { |
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117 | /* return NULL in case buffer is full */ |
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118 | return NULL; |
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119 | } |
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120 | else |
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121 | { |
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122 | /* copy the can mess. to the tail of the buffer */ |
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123 | memcpy((void *)chan->tx_ring_buf.tail_ptr, (void *)mess_ptr, sizeof(struct can_message)); |
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124 | |
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125 | /* set new tail equal to temp. mess. ptr. */ |
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126 | chan->tx_ring_buf.tail_ptr = tmp_mess_ptr; |
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127 | } |
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128 | |
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129 | /* return the actual tail ptr. (next free entry) */ |
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130 | return chan->tx_ring_buf.tail_ptr; |
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131 | } |
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132 | |
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133 | /* |
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134 | * MPC5x00 MSCAN interrupt handler |
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135 | */ |
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136 | static void mpc5200_mscan_interrupt_handler(rtems_irq_hdl_param handle) |
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137 | { |
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138 | rtems_status_code status; |
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139 | mscan_handle *mscan_hdl = (mscan_handle *)handle; |
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140 | struct mscan_channel_info *chan = &chan_info[mscan_hdl->mscan_channel]; |
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141 | struct can_message rx_mess, *rx_mess_ptr, *tx_mess_ptr; |
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142 | volatile struct mpc5200_mscan *mscan = chan->regs; |
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143 | register uint8_t idx; |
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144 | |
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145 | /* |
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146 | handle tx ring buffer |
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147 | */ |
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148 | |
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149 | /* loop over all 3 tx buffers */ |
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150 | for(idx = TFLG_TXE0; idx <= TFLG_TXE2; idx=idx<<1) |
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151 | { |
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152 | |
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153 | /* check for tx buffer vacation */ |
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154 | if((mscan->tflg) & idx) |
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155 | { |
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156 | |
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157 | /* try to get a message */ |
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158 | tx_mess_ptr = get_tx_buffer(chan); |
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159 | |
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160 | /* check for new tx message */ |
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161 | if(tx_mess_ptr != NULL) |
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162 | { |
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163 | |
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164 | /* select the tx buffer */ |
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165 | mscan->bsel = idx; |
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166 | |
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167 | /* check for toucan interface */ |
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168 | if((mscan_hdl->toucan_callback) == NULL) |
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169 | { |
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170 | |
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171 | /* set tx id */ |
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172 | mscan->txidr0 = SET_IDR0(tx_mess_ptr->mess_id); |
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173 | mscan->txidr1 = SET_IDR1(tx_mess_ptr->mess_id); |
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174 | mscan->txidr2 = 0; |
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175 | mscan->txidr3 = 0; |
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176 | |
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177 | } |
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178 | |
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179 | /* fill in tx data if TOUCAN is activ an TOUCAN index have a match with the tx buffer or TOUCAN is disabled */ |
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180 | if(((mscan_hdl->toucan_callback) == NULL) || (((mscan_hdl->toucan_callback) != NULL) && ((tx_mess_ptr->toucan_tx_idx) == idx))) |
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181 | { |
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182 | |
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183 | /* insert dlc into mscan register */ |
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184 | mscan->txdlr = (uint8_t)((tx_mess_ptr->mess_len) & 0x000F); |
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185 | |
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186 | /* skip data copy in case of RTR */ |
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187 | if(!(MSCAN_MESS_ID_HAS_RTR(tx_mess_ptr->mess_id))) |
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188 | { |
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189 | /* copy tx data to MSCAN registers */ |
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190 | switch(mscan->txdlr) |
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191 | { |
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192 | case 8: |
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193 | mscan->txdsr7 = tx_mess_ptr->mess_data[7]; |
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194 | case 7: |
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195 | mscan->txdsr6 = tx_mess_ptr->mess_data[6]; |
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196 | case 6: |
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197 | mscan->txdsr5 = tx_mess_ptr->mess_data[5]; |
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198 | case 5: |
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199 | mscan->txdsr4 = tx_mess_ptr->mess_data[4]; |
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200 | case 4: |
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201 | mscan->txdsr3 = tx_mess_ptr->mess_data[3]; |
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202 | case 3: |
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203 | mscan->txdsr2 = tx_mess_ptr->mess_data[2]; |
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204 | case 2: |
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205 | mscan->txdsr1 = tx_mess_ptr->mess_data[1]; |
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206 | case 1: |
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207 | mscan->txdsr0 = tx_mess_ptr->mess_data[0]; |
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208 | break; |
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209 | default: |
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210 | break; |
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211 | } |
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212 | } |
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213 | |
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214 | /* enable message buffer specific interrupt */ |
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215 | mscan->tier |= mscan->bsel; |
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216 | |
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217 | /* start transfer */ |
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218 | mscan->tflg = mscan->bsel; |
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219 | |
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220 | /* release counting semaphore of tx ring buffer */ |
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221 | rtems_semaphore_release((rtems_id)(chan->tx_rb_sid)); |
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222 | |
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223 | } |
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224 | else |
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225 | { |
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226 | |
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227 | /* refill the tx ring buffer with the message */ |
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228 | fill_tx_buffer(chan, tx_mess_ptr); |
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229 | |
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230 | } |
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231 | } |
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232 | else |
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233 | { |
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234 | /* reset interrupt enable bit */ |
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235 | mscan->tier &= ~(idx); |
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236 | } |
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237 | } |
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238 | } |
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239 | |
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240 | /* |
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241 | handle rx interrupts |
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242 | */ |
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243 | |
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244 | /* check for rx interrupt source */ |
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245 | if(mscan->rier & RIER_RXFIE) |
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246 | { |
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247 | |
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248 | /* can messages received ? */ |
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249 | while(mscan->rflg & RFLG_RXF) |
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250 | { |
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251 | |
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252 | if(mscan_hdl->toucan_callback == NULL) |
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253 | { |
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254 | |
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255 | /* select temporary rx buffer */ |
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256 | rx_mess_ptr = &rx_mess; |
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257 | |
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258 | } |
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259 | else |
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260 | { |
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261 | |
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262 | /* check the rx fliter-match indicators (16-bit filter mode) */ |
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263 | /* in case of more than one hit, lower hit has priority */ |
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264 | idx = (mscan->idac) & 0x7; |
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265 | switch(idx) |
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266 | { |
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267 | |
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268 | case 0: |
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269 | case 1: |
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270 | case 2: |
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271 | case 3: |
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272 | rx_mess_ptr = |
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273 | (struct can_message *)&(mpc5200_mscan_rx_cntrl[mscan_hdl->mscan_channel].can_rx_message[idx]); |
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274 | break; |
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275 | |
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276 | /* this case should never happen */ |
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277 | default: |
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278 | /* reset the rx indication flag */ |
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279 | mscan->rflg |= RFLG_RXF; |
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280 | |
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281 | return; |
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282 | break; |
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283 | } |
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284 | |
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285 | } |
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286 | |
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287 | /* get rx ID */ |
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288 | rx_mess_ptr->mess_id = GET_IDR0(mscan->rxidr0) | GET_IDR1(mscan->rxidr1); |
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289 | |
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290 | /* get rx len */ |
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291 | rx_mess_ptr->mess_len = ((mscan->rxdlr) & 0x0F); |
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292 | |
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293 | /* get time stamp */ |
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294 | rx_mess_ptr->mess_time_stamp = ((mscan->rxtimh << 8) | (mscan->rxtiml)); |
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295 | |
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296 | /* skip data copy in case of RTR */ |
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297 | if(!(MSCAN_MESS_ID_HAS_RTR(rx_mess_ptr->mess_id))) |
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298 | |
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299 | { |
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300 | |
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301 | /* get the data */ |
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302 | switch(rx_mess_ptr->mess_len) |
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303 | { |
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304 | case 8: |
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305 | rx_mess_ptr->mess_data[7] = mscan->rxdsr7; |
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306 | case 7: |
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307 | rx_mess_ptr->mess_data[6] = mscan->rxdsr6; |
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308 | case 6: |
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309 | rx_mess_ptr->mess_data[5] = mscan->rxdsr5; |
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310 | case 5: |
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311 | rx_mess_ptr->mess_data[4] = mscan->rxdsr4; |
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312 | case 4: |
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313 | rx_mess_ptr->mess_data[3] = mscan->rxdsr3; |
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314 | case 3: |
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315 | rx_mess_ptr->mess_data[2] = mscan->rxdsr2; |
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316 | case 2: |
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317 | rx_mess_ptr->mess_data[1] = mscan->rxdsr1; |
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318 | case 1: |
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319 | rx_mess_ptr->mess_data[0] = mscan->rxdsr0; |
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320 | case 0: |
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321 | default: |
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322 | break; |
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323 | } |
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324 | } |
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325 | |
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326 | if(mscan_hdl->toucan_callback == NULL) |
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327 | { |
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328 | |
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329 | if((status = rtems_message_queue_send(chan->rx_qid, (void *)rx_mess_ptr, sizeof(struct can_message))) != RTEMS_SUCCESSFUL) |
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330 | { |
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331 | |
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332 | chan->int_rx_err++; |
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333 | |
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334 | } |
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335 | |
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336 | } |
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337 | else |
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338 | { |
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339 | |
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340 | mscan_hdl->toucan_callback((int16_t)(((mscan->idac) & 0x7) + 3)); |
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341 | |
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342 | } |
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343 | |
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344 | /* reset the rx indication flag */ |
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345 | mscan->rflg |= RFLG_RXF; |
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346 | |
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347 | } /* end of while(mscan->rflg & RFLG_RXF) */ |
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348 | |
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349 | } |
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350 | |
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351 | /* status change detected */ |
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352 | if(mscan->rflg & RFLG_CSCIF) |
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353 | { |
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354 | |
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355 | mscan->rflg |= RFLG_CSCIF; |
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356 | |
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357 | if(mscan_hdl->toucan_callback != NULL) |
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358 | { |
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359 | |
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360 | mscan_hdl->toucan_callback((int16_t)(-1)); |
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361 | |
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362 | } |
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363 | |
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364 | } |
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365 | |
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366 | } |
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367 | |
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368 | |
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369 | /* |
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370 | * Disable MSCAN ints. |
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371 | */ |
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372 | void mpc5200_mscan_int_disable(volatile struct mpc5200_mscan *mscan) |
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373 | { |
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374 | |
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375 | /* RX Interrupt Enable on MSCAN_A/_B -----------------------------*/ |
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376 | /* [07]:WUPIE 0 : WakeUp interrupt disabled */ |
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377 | /* [06]:CSCIE 0 : Status Change interrupt disabled */ |
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378 | /* [05]:RSTATE1 0 : Recv. Status Change int. ,Bit 1 */ |
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379 | /* [04]:RSTATE0 0 : Recv. Status Change int. ,Bit 0 */ |
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380 | /* -> 00 rx status change int. disabled */ |
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381 | /* [03]:TSTAT1 0 : Transmit. Status Change int. , Bit 1 */ |
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382 | /* [02]:TSTAT0 0 : Transmit. Status Change int. , Bit 0 */ |
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383 | /* -> 00 tx status change int. disabled */ |
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384 | /* [01]:OVRIE 0 : Overrun Interrupt is disabled */ |
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385 | /* [00]:RXFIE 0 : Recv. Full interrupt is disabled */ |
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386 | mscan->rier &= ~(RIER_CSCIE | RIER_RXFIE); |
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387 | |
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388 | /* TX Interrupt Enable on MSCAN_A/_B -----------------------------*/ |
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389 | /* [07]:res. 0 : reserved */ |
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390 | /* [06]:res. 0 : reserved */ |
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391 | /* [05]:res. 0 : reserved */ |
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392 | /* [04]:res. 0 : reserved */ |
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393 | /* [03]:res. 0 : reserved */ |
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394 | /* [02]:TSEG12 0 : TX2message buffer int. is disabled */ |
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395 | /* [01]:TSEG11 0 : TX1 message buffer int. is disabled */ |
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396 | /* [00]:TSEG10 0 : TX0 message buffer int. is disabled */ |
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397 | mscan->tier &= ~(TIER_TXEI2 | TIER_TXEI1 | TIER_TXEI0); |
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398 | |
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399 | return; |
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400 | |
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401 | } |
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402 | |
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403 | |
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404 | /* |
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405 | * Enable MSCAN ints. |
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406 | */ |
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407 | void mpc5200_mscan_int_enable(volatile struct mpc5200_mscan *mscan) |
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408 | { |
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409 | |
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410 | /* RX Interrupt Enable on MSCAN_A/_B -----------------------------*/ |
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411 | /* [07]:WUPIE 0 : WakeUp interrupt disabled */ |
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412 | /* [06]:CSCIE 1 : Status Change interrupt enabled */ |
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413 | /* [05]:RSTATE1 0 : Recv. Status Change int. ,Bit 1 */ |
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414 | /* [04]:RSTATE0 1 : Recv. Status Change int. ,Bit 0 */ |
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415 | /* -> 01 BusOff status changes enabled */ |
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416 | /* [03]:TSTAT1 0 : Transmit. Status Change int. , Bit 1 */ |
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417 | /* [02]:TSTAT0 1 : Transmit. Status Change int. , Bit 0 */ |
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418 | /* -> 01 BusOff status changes enabled */ |
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419 | /* [01]:OVRIE 0 : Overrun Interrupt is disabled */ |
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420 | /* [00]:RXFIE 1 : Recv. Full interrupt is enabled */ |
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421 | mscan->rier |= (RIER_CSCIE | RIER_RXFIE | RIER_RSTAT(1) | RIER_TSTAT(1)); |
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422 | |
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423 | return; |
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424 | |
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425 | } |
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426 | |
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427 | /* |
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428 | * Unmask MPC5x00 MSCAN_A interrupts |
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429 | */ |
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430 | void mpc5200_mscan_a_on(const rtems_irq_connect_data* ptr) |
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431 | { |
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432 | volatile struct mpc5200_mscan *mscan = (&chan_info[MSCAN_A])->regs; |
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433 | |
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434 | mpc5200_mscan_int_enable(mscan); |
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435 | |
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436 | return; |
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437 | |
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438 | } |
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439 | |
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440 | |
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441 | /* |
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442 | * Mask MPC5x00 MSCAN_A interrupts |
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443 | */ |
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444 | void mpc5200_mscan_a_off(const rtems_irq_connect_data* ptr) |
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445 | { |
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446 | volatile struct mpc5200_mscan *mscan = (&chan_info[MSCAN_A])->regs; |
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447 | |
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448 | mpc5200_mscan_int_disable(mscan); |
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449 | |
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450 | return; |
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451 | |
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452 | } |
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453 | |
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454 | |
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455 | /* |
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456 | * Get MSCAN_A interrupt mask setting |
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457 | */ |
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458 | int mpc5200_mscan_a_isOn(const rtems_irq_connect_data* ptr) |
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459 | { |
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460 | volatile struct mpc5200_mscan *mscan = (&chan_info[MSCAN_A])->regs; |
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461 | |
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462 | if((mscan->rier & RIER_CSCIE) && (mscan->rier & RIER_RXFIE)) |
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463 | return RTEMS_SUCCESSFUL; |
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464 | else |
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465 | return RTEMS_UNSATISFIED; |
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466 | |
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467 | return RTEMS_SUCCESSFUL; |
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468 | |
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469 | } |
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470 | |
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471 | |
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472 | /* |
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473 | * Unmask MPC5x00 MSCAN_B interrupts |
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474 | */ |
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475 | void mpc5200_mscan_b_on(const rtems_irq_connect_data* ptr) |
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476 | { |
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477 | volatile struct mpc5200_mscan *mscan = (&chan_info[MSCAN_B])->regs; |
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478 | |
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479 | mpc5200_mscan_int_enable(mscan); |
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480 | |
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481 | return; |
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482 | |
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483 | } |
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484 | |
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485 | |
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486 | /* |
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487 | * Mask MPC5x00 MSCAN_B interrupts |
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488 | */ |
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489 | void mpc5200_mscan_b_off(const rtems_irq_connect_data* ptr) |
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490 | { |
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491 | volatile struct mpc5200_mscan *mscan = (&chan_info[MSCAN_B])->regs; |
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492 | |
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493 | mpc5200_mscan_int_disable(mscan); |
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494 | |
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495 | return; |
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496 | |
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497 | } |
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498 | |
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499 | |
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500 | /* |
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501 | * Get MSCAN_B interrupt mask setting |
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502 | */ |
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503 | int mpc5200_mscan_b_isOn(const rtems_irq_connect_data* ptr) |
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504 | { |
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505 | volatile struct mpc5200_mscan *mscan = (&chan_info[MSCAN_B])->regs; |
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506 | |
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507 | if((mscan->rier & RIER_CSCIE) && (mscan->rier & RIER_RXFIE)) |
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508 | return RTEMS_SUCCESSFUL; |
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509 | else |
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510 | return RTEMS_UNSATISFIED; |
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511 | |
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512 | return RTEMS_SUCCESSFUL; |
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513 | |
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514 | } |
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515 | |
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516 | static mscan_handle mscan_a_handle = |
---|
517 | { |
---|
518 | MSCAN_A, |
---|
519 | NULL |
---|
520 | }; |
---|
521 | |
---|
522 | |
---|
523 | static mscan_handle mscan_b_handle = |
---|
524 | { |
---|
525 | MSCAN_B, |
---|
526 | NULL |
---|
527 | }; |
---|
528 | |
---|
529 | /* |
---|
530 | * MPC5x00 MSCAN_A/_B irq data |
---|
531 | */ |
---|
532 | static rtems_irq_connect_data mpc5200_mscan_irq_data[MPC5200_CAN_NO] = |
---|
533 | {{ |
---|
534 | BSP_SIU_IRQ_MSCAN1, |
---|
535 | (rtems_irq_hdl) mpc5200_mscan_interrupt_handler, |
---|
536 | (rtems_irq_hdl_param) &mscan_a_handle, |
---|
537 | (rtems_irq_enable) mpc5200_mscan_a_on, |
---|
538 | (rtems_irq_disable) mpc5200_mscan_a_off, |
---|
539 | (rtems_irq_is_enabled) mpc5200_mscan_a_isOn |
---|
540 | }, |
---|
541 | { |
---|
542 | BSP_SIU_IRQ_MSCAN2, |
---|
543 | (rtems_irq_hdl) mpc5200_mscan_interrupt_handler, |
---|
544 | (rtems_irq_hdl_param) &mscan_b_handle, |
---|
545 | (rtems_irq_enable) mpc5200_mscan_b_on, |
---|
546 | (rtems_irq_disable) mpc5200_mscan_b_off, |
---|
547 | (rtems_irq_is_enabled) mpc5200_mscan_b_isOn |
---|
548 | }}; |
---|
549 | |
---|
550 | |
---|
551 | /* |
---|
552 | * Enter MSCAN sleep mode |
---|
553 | */ |
---|
554 | void mpc5200_mscan_enter_sleep_mode(volatile struct mpc5200_mscan *mscan) |
---|
555 | { |
---|
556 | |
---|
557 | /* Control Register 0 --------------------------------------------*/ |
---|
558 | /* [07]:RXFRM 0 : Recv. Frame, Flag Bit (rd.&clear only) */ |
---|
559 | /* [06]:RXACT 0 : Recv. Active, Status Bit (rd. only) */ |
---|
560 | /* [05]:CSWAI 0 : CAN Stops in Wait Mode */ |
---|
561 | /* [04]:SYNCH 0 : Synchronized, Status Bit (rd. only) */ |
---|
562 | /* [03]:TIME 1 : Generate Timestamps */ |
---|
563 | /* [02]:WUPE 1 : WakeUp Enabled */ |
---|
564 | /* [01]:SLPRQ 0->1 : Sleep Mode Request */ |
---|
565 | /* [00]:INITRQ 0 : No init. Mode Request */ |
---|
566 | /* select sleep mode */ |
---|
567 | mscan->ctl0 |= (CTL0_SLPRQ); |
---|
568 | |
---|
569 | /* Control Register 1 --------------------------------------------*/ |
---|
570 | /* [07]:CANE 0 : MSCAN Module is disabled */ |
---|
571 | /* [06]:CLKSRC 1 : Clock Source -> IPB-Clock (33 MHz) */ |
---|
572 | /* [05]:LOOPB 0 : No Loopback */ |
---|
573 | /* [04]:LISTEN 0 : Normal Operation */ |
---|
574 | /* [03]:res 0 : reserved */ |
---|
575 | /* [02]:WUPM 0 : No protect. from spurious WakeUp */ |
---|
576 | /* [01]:SLPAK 0->1 : Sleep Mode Acknowledge (rd. only) */ |
---|
577 | /* [00]:INITAK 0 : Init. Mode Acknowledge (rd. only) */ |
---|
578 | /* wait for sleep mode acknowledge */ |
---|
579 | while(!(mscan->ctl1 & CTL1_SLPAK)); |
---|
580 | |
---|
581 | return; |
---|
582 | |
---|
583 | } |
---|
584 | |
---|
585 | |
---|
586 | /* |
---|
587 | * Exit MSCAN sleep mode |
---|
588 | */ |
---|
589 | void mpc5200_mscan_exit_sleep_mode(volatile struct mpc5200_mscan *mscan) |
---|
590 | { |
---|
591 | |
---|
592 | /* Control Register 0 --------------------------------------------*/ |
---|
593 | /* [07]:RXFRM 0 : Recv. Frame, Flag Bit (rd.&clear only) */ |
---|
594 | /* [06]:RXACT 0 : Recv. Active, Status Bit (rd. only) */ |
---|
595 | /* [05]:CSWAI 0 : CAN Stops in Wait Mode */ |
---|
596 | /* [04]:SYNCH 0 : Synchronized, Status Bit (rd. only) */ |
---|
597 | /* [03]:TIME 1 : Generate Timestamps */ |
---|
598 | /* [02]:WUPE 1 : WakeUp Enabled */ |
---|
599 | /* [01]:SLPRQ 0->1 : Sleep Mode Request */ |
---|
600 | /* [00]:INITRQ 0 : No init. Mode Request */ |
---|
601 | /* select sleep mode */ |
---|
602 | mscan->ctl0 &= ~(CTL0_SLPRQ); |
---|
603 | |
---|
604 | /* Control Register 1 --------------------------------------------*/ |
---|
605 | /* [07]:CANE 0 : MSCAN Module is disabled */ |
---|
606 | /* [06]:CLKSRC 1 : Clock Source -> IPB-Clock (33 MHz) */ |
---|
607 | /* [05]:LOOPB 0 : No Loopback */ |
---|
608 | /* [04]:LISTEN 0 : Normal Operation */ |
---|
609 | /* [03]:res 0 : reserved */ |
---|
610 | /* [02]:WUPM 0 : No protect. from spurious WakeUp */ |
---|
611 | /* [01]:SLPAK 0->1 : Sleep Mode Acknowledge (rd. only) */ |
---|
612 | /* [00]:INITAK 0 : Init. Mode Acknowledge (rd. only) */ |
---|
613 | /* wait for sleep mode acknowledge */ |
---|
614 | while((mscan->ctl1 & CTL1_SLPAK)); |
---|
615 | |
---|
616 | return; |
---|
617 | |
---|
618 | } |
---|
619 | |
---|
620 | |
---|
621 | /* |
---|
622 | * Enter MSCAN init mode and disconnect from bus |
---|
623 | */ |
---|
624 | void mpc5200_mscan_enter_init_mode(volatile struct mpc5200_mscan *mscan) |
---|
625 | { |
---|
626 | |
---|
627 | /* Control Register 0 --------------------------------------------*/ |
---|
628 | /* [07]:RXFRM 0 : Recv. Frame, Flag Bit (rd.&clear only) */ |
---|
629 | /* [06]:RXACT 0 : Recv. Active, Status Bit (rd. only) */ |
---|
630 | /* [05]:CSWAI 0 : CAN Stops in Wait Mode */ |
---|
631 | /* [04]:SYNCH 0 : Synchronized, Status Bit (rd. only) */ |
---|
632 | /* [03]:TIME 1 : Generate Timestamps */ |
---|
633 | /* [02]:WUPE 0 : WakeUp disabled */ |
---|
634 | /* [01]:SLPRQ 0 : No Sleep Mode Request */ |
---|
635 | /* [00]:INITRQ 0->1 : Init. Mode Request */ |
---|
636 | /* select init mode */ |
---|
637 | mscan->ctl0 |= (CTL0_INITRQ); |
---|
638 | |
---|
639 | /* Control Register 1 --------------------------------------------*/ |
---|
640 | /* [07]:CANE 0 : MSCAN Module is disabled */ |
---|
641 | /* [06]:CLKSRC 1 : Clock Source -> IPB-Clock (33 MHz) */ |
---|
642 | /* [05]:LOOPB 0 : No Loopback */ |
---|
643 | /* [04]:LISTEN 0 : Normal Operation */ |
---|
644 | /* [03]:res 0 : reserved */ |
---|
645 | /* [02]:WUPM 0 : No protect. from spurious WakeUp */ |
---|
646 | /* [01]:SLPAK 0 : Sleep Mode Acknowledge (rd. only) */ |
---|
647 | /* [00]:INITAK 0->1 : Init. Mode Acknowledge (rd. only) */ |
---|
648 | /* wait for init mode acknowledge */ |
---|
649 | while(!(mscan->ctl1 & CTL1_INITAK)); |
---|
650 | |
---|
651 | return; |
---|
652 | |
---|
653 | } |
---|
654 | |
---|
655 | |
---|
656 | /* |
---|
657 | * Exit MSCAN init mode |
---|
658 | */ |
---|
659 | void mpc5200_mscan_exit_init_mode(volatile struct mpc5200_mscan *mscan) |
---|
660 | { |
---|
661 | |
---|
662 | /* Control Register 0 --------------------------------------------*/ |
---|
663 | /* [07]:RXFRM 0 : Recv. Frame, Flag Bit (rd.&clear only) */ |
---|
664 | /* [06]:RXACT 0 : Recv. Active, Status Bit (rd. only) */ |
---|
665 | /* [05]:CSWAI 0 : CAN Stops in Wait Mode */ |
---|
666 | /* [04]:SYNCH 0 : Synchronized, Status Bit (rd. only) */ |
---|
667 | /* [03]:TIME 1 : Generate Timestamps */ |
---|
668 | /* [02]:WUPE 0 : WakeUp Disabled */ |
---|
669 | /* [01]:SLPRQ 0 : No Sleep Mode Request */ |
---|
670 | /* [00]:INITRQ 1->0 : Init. Mode Request */ |
---|
671 | /* select normal mode */ |
---|
672 | mscan->ctl0 &= ~(CTL0_INITRQ); |
---|
673 | |
---|
674 | /* Control Register 1 --------------------------------------------*/ |
---|
675 | /* [07]:CANE 0 : MSCAN Module is disabled */ |
---|
676 | /* [06]:CLKSRC 1 : Clock Source -> IPB-Clock (33 MHz) */ |
---|
677 | /* [05]:LOOPB 0 : No Loopback */ |
---|
678 | /* [04]:LISTEN 0 : Normal Operation */ |
---|
679 | /* [03]:res 0 : reserved */ |
---|
680 | /* [02]:WUPM 0 : No protect. from spurious WakeUp */ |
---|
681 | /* [01]:SLPAK 0 : Sleep Mode Acknowledge (rd. only) */ |
---|
682 | /* [00]:INITAK 1->0 : Init. Mode Acknowledge (rd. only) */ |
---|
683 | /* wait for normal mode acknowledge */ |
---|
684 | while(mscan->ctl1 & CTL1_INITAK); |
---|
685 | |
---|
686 | return; |
---|
687 | |
---|
688 | } |
---|
689 | |
---|
690 | |
---|
691 | /* |
---|
692 | * MPC5x00 MSCAN wait for sync. with CAN bus |
---|
693 | */ |
---|
694 | void mpc5200_mscan_wait_sync(volatile struct mpc5200_mscan *mscan) |
---|
695 | { |
---|
696 | |
---|
697 | /* Control Register 0 --------------------------------------------*/ |
---|
698 | /* [07]:RXFRM 0 : Recv. Frame, Flag Bit (rd.&clear only) */ |
---|
699 | /* [06]:RXACT 0 : Recv. Active, Status Bit (rd. only) */ |
---|
700 | /* [05]:CSWAI 0 : CAN Stops in Wait Mode */ |
---|
701 | /* [04]:SYNCH 0->1 : Synchronized, Status Bit (rd. only) */ |
---|
702 | /* [03]:TIME 1 : Generate Timestamps */ |
---|
703 | /* [02]:WUPE 0 : WakeUp Disabled */ |
---|
704 | /* [01]:SLPRQ 0 : No Sleep Mode Request */ |
---|
705 | /* [00]:INITRQ 0 : No init. Mode Request */ |
---|
706 | /* wait for MSCAN A_/_B bus synch. */ |
---|
707 | |
---|
708 | #if 0 /* we don't have a need to wait for sync. */ |
---|
709 | while(!((mscan->ctl0) & CTL0_SYNCH)); |
---|
710 | #endif |
---|
711 | return; |
---|
712 | |
---|
713 | } |
---|
714 | |
---|
715 | /* calculate the can clock prescaler value */ |
---|
716 | uint8_t prescaler_calculation(uint32_t can_bit_rate, uint32_t can_clock_frq, uint8_t *tq_no) { |
---|
717 | |
---|
718 | /* local variables */ |
---|
719 | uint8_t presc_val, tq_no_dev_min = 0; |
---|
720 | uint32_t bit_rate, bit_rate_dev, frq_tq, bit_rate_dev_min = 0xFFFFFFFF; |
---|
721 | |
---|
722 | /* loop through all values of time quantas */ |
---|
723 | for(*tq_no = CAN_MAX_NO_OF_TQ; *tq_no >= MIN_NO_OF_TQ; (*tq_no)--) { |
---|
724 | |
---|
725 | /* calculate time quanta freq. */ |
---|
726 | frq_tq = *tq_no * can_bit_rate; |
---|
727 | |
---|
728 | /* calculate the optimized prescal. val. */ |
---|
729 | presc_val = (can_clock_frq+frq_tq/2)/frq_tq; |
---|
730 | |
---|
731 | /* calculate the bitrate */ |
---|
732 | bit_rate = can_clock_frq/(*tq_no * presc_val); |
---|
733 | |
---|
734 | /* calculate the bitrate deviation */ |
---|
735 | if(can_bit_rate >= bit_rate) |
---|
736 | { |
---|
737 | /* calculate the bitrate deviation */ |
---|
738 | bit_rate_dev = can_bit_rate - bit_rate; |
---|
739 | } |
---|
740 | else |
---|
741 | { |
---|
742 | /* calculate the bitrate deviation */ |
---|
743 | bit_rate_dev = bit_rate - can_bit_rate; |
---|
744 | } |
---|
745 | |
---|
746 | /* check the deviation freq. */ |
---|
747 | if(bit_rate_dev == 0) { |
---|
748 | |
---|
749 | /* return if best match (zero deviation) */ |
---|
750 | return (uint8_t)(presc_val); |
---|
751 | } |
---|
752 | else |
---|
753 | { |
---|
754 | |
---|
755 | /* check for minimum of bit rate deviation */ |
---|
756 | if(bit_rate_dev < bit_rate_dev_min) { |
---|
757 | |
---|
758 | /* recognize the minimum freq. deviation */ |
---|
759 | bit_rate_dev_min = bit_rate_dev; |
---|
760 | |
---|
761 | /* recognize the no. of time quantas */ |
---|
762 | tq_no_dev_min = *tq_no; |
---|
763 | } |
---|
764 | } |
---|
765 | } |
---|
766 | |
---|
767 | /* get the no of tq's */ |
---|
768 | *tq_no = tq_no_dev_min; |
---|
769 | |
---|
770 | /* calculate time quanta freq. */ |
---|
771 | frq_tq = *tq_no * can_bit_rate; |
---|
772 | |
---|
773 | /* return the optimized prescaler value */ |
---|
774 | return (uint8_t)((can_clock_frq+frq_tq/2)/frq_tq); |
---|
775 | } |
---|
776 | |
---|
777 | /* |
---|
778 | * MPC5x00 MSCAN set up the bit timing |
---|
779 | */ |
---|
780 | void mpc5200_mscan_perform_bit_time_settings(volatile struct mpc5200_mscan *mscan, uint32_t can_bit_rate, uint32_t can_clock_frq) |
---|
781 | { |
---|
782 | uint32_t prescale_val = 0; |
---|
783 | uint8_t tq_no, tseg_1, tseg_2, sseg; |
---|
784 | |
---|
785 | /* get optimized prescaler value */ |
---|
786 | prescale_val = prescaler_calculation(can_bit_rate, can_clock_frq, &tq_no); |
---|
787 | |
---|
788 | /* get time segment length from time segment table */ |
---|
789 | tseg_1 = can_time_segment_table[tq_no - MIN_NO_OF_TQ][TSEG_1]; |
---|
790 | tseg_2 = can_time_segment_table[tq_no - MIN_NO_OF_TQ][TSEG_2]; |
---|
791 | sseg = can_time_segment_table[tq_no - MIN_NO_OF_TQ][SJW]; |
---|
792 | |
---|
793 | /* Bus Timing Register 0 MSCAN_A/_B ------------------------------*/ |
---|
794 | /* [07]:SJW1 1 : Synchronization jump width, Bit1 */ |
---|
795 | /* [06]:SJW0 0 : Synchronization jump width, Bit0 */ |
---|
796 | /* SJW = 2 -> 3 Tq clock cycles */ |
---|
797 | /* [05]:BRP5 0 : Baud Rate Prescaler, Bit 5 */ |
---|
798 | /* [04]:BRP4 0 : Baud Rate Prescaler, Bit 4 */ |
---|
799 | /* [03]:BRP3 0 : Baud Rate Prescaler, Bit 3 */ |
---|
800 | /* [02]:BRP2 1 : Baud Rate Prescaler, Bit 2 */ |
---|
801 | /* [01]:BRP1 0 : Baud Rate Prescaler, Bit 1 */ |
---|
802 | /* [00]:BRP0 1 : Baud Rate Prescaler, Bit 0 */ |
---|
803 | mscan->btr0 = (BTR0_SJW(sseg-1) | BTR0_BRP(prescale_val-1)); |
---|
804 | |
---|
805 | /* Bus Timing Register 1 MSCAN_A/_B ------------------------------*/ |
---|
806 | /* [07]:SAMP 0 : One Sample per bit */ |
---|
807 | /* [06]:TSEG22 0 : Time Segment 2, Bit 2 */ |
---|
808 | /* [05]:TSEG21 1 : Time Segment 2, Bit 1 */ |
---|
809 | /* [04]:TSEG20 0 : Time Segment 2, Bit 0 */ |
---|
810 | /* -> PHASE_SEG2 = 3 Tq */ |
---|
811 | /* [03]:TSEG13 0 : Time Segment 1, Bit 3 */ |
---|
812 | /* [02]:TSEG12 1 : Time Segment 1, Bit 2 */ |
---|
813 | /* [01]:TSEG11 1 : Time Segment 1, Bit 1 */ |
---|
814 | /* [00]:TSEG10 0 : Time Segment 1, Bit 0 */ |
---|
815 | mscan->btr1 = (BTR1_TSEG_22_20(tseg_2-1) | BTR1_TSEG_13_10(tseg_1-1)); |
---|
816 | |
---|
817 | return; |
---|
818 | |
---|
819 | } |
---|
820 | |
---|
821 | |
---|
822 | /* |
---|
823 | * MPC5x00 MSCAN perform settings in init mode |
---|
824 | */ |
---|
825 | void mpc5200_mscan_perform_init_mode_settings(volatile struct mpc5200_mscan *mscan) |
---|
826 | { |
---|
827 | |
---|
828 | /* perform all can bit time settings */ |
---|
829 | mpc5200_mscan_perform_bit_time_settings(mscan,CAN_BIT_RATE,IPB_CLOCK); |
---|
830 | |
---|
831 | /* Control Register 1 --------------------------------------------*/ |
---|
832 | /* [07]:CANE 0 : MSCAN Module is disabled */ |
---|
833 | /* [06]:CLKSRC 0 : Clock Source -> IPB_CLOCK (bsp.h) */ |
---|
834 | /* [05]:LOOPB 0 : No Loopback */ |
---|
835 | /* [04]:LISTEN 0 : Normal Operation */ |
---|
836 | /* [03]:res 0 : reserved */ |
---|
837 | /* [02]:WUPM 0 : No protect. from spurious WakeUp */ |
---|
838 | /* [01]:SLPAK 1->0 : Sleep Mode Acknowledge (rd. only) */ |
---|
839 | /* [00]:INITAK 0 : Init. Mode Acknowledge (rd. only) */ |
---|
840 | /* Set CLK source, disable loopback & listen-only mode */ |
---|
841 | #ifndef MSCAN_LOOPBACK |
---|
842 | mscan->ctl1 &= ~(CTL1_LISTEN | CTL1_LOOPB | CTL1_CLKSRC); |
---|
843 | #else |
---|
844 | mscan->ctl1 &= ~(CTL1_LISTEN | CTL1_CLKSRC); |
---|
845 | mscan->ctl1 |= (CTL1_LOOPB); |
---|
846 | #endif |
---|
847 | |
---|
848 | /* IPB clock -> IPB_CLOCK (bsp.h) */ |
---|
849 | /* bitrate -> CAN_BIT_RATE (mscan.h) */ |
---|
850 | /* Max. no of Tq -> CAN_MAX_NO_OF_TQ (mscan.h) */ |
---|
851 | /* Prescaler value -> prescale_val = ROUND_UP(IPB_CLOCK/(CAN_BIT_RATE * CAN_MAX_NO_OF_TQ)) */ |
---|
852 | /* SYNC_SEG -> 1 tq */ |
---|
853 | /* time segment 1 -> 16 tq (PROP_SEG+PHASE_SEG), CAN_MAX_NO_OF_TQ_TSEG1 = 15 (mscan.h) */ |
---|
854 | /* time segment 2 -> 8 tq (PHASE_SEG2) , CAN_MAX_NO_OF_TQ_TSEG2 = 7 (mscan.h) */ |
---|
855 | /* SJW -> 3 (fixed 0...3) , CAN_MAX_NO_OF_TQ_SJW = 2 (mscan.h) */ |
---|
856 | |
---|
857 | /* ID Acceptance Control MSCAN_A/_B ------------------------------*/ |
---|
858 | /* [07]:res. 0 : reserved */ |
---|
859 | /* [06]:res. 0 : reserved */ |
---|
860 | /* [05]:IDAM1 0 : ID acceptance control, Bit1 */ |
---|
861 | /* [04]:IDAM0 1 : ID acceptance control, Bit0 */ |
---|
862 | /* -> filter 16 bit mode */ |
---|
863 | /* [03]:res. 0 : reserved */ |
---|
864 | /* [02]:IDHIT2 0 : ID acceptance hit indication, Bit 2 */ |
---|
865 | /* [01]:IDHIT1 0 : ID acceptance hit indication, Bit 1 */ |
---|
866 | /* [00]:IDHIT0 0 : ID acceptance hit indication, Bit 0 */ |
---|
867 | mscan->idac &= ~(IDAC_IDAM1); |
---|
868 | mscan->idac |= (IDAC_IDAM0); |
---|
869 | |
---|
870 | /* initialize rx filter masks (16 bit), don't care including rtr */ |
---|
871 | mscan->idmr0 = SET_IDMR0(0x7FF); |
---|
872 | mscan->idmr1 = SET_IDMR1(0x7FF); |
---|
873 | mscan->idmr2 = SET_IDMR2(0x7FF); |
---|
874 | mscan->idmr3 = SET_IDMR3(0x7FF); |
---|
875 | mscan->idmr4 = SET_IDMR4(0x7FF); |
---|
876 | mscan->idmr5 = SET_IDMR5(0x7FF); |
---|
877 | mscan->idmr6 = SET_IDMR6(0x7FF); |
---|
878 | mscan->idmr7 = SET_IDMR7(0x7FF); |
---|
879 | |
---|
880 | /* Control Register 1 --------------------------------------------*/ |
---|
881 | /* [07]:CANE 0->1 : MSCAN Module is enabled */ |
---|
882 | /* [06]:CLKSRC 1 : Clock Source -> IPB_CLOCK (bsp.h) */ |
---|
883 | /* [05]:LOOPB 0 : No Loopback */ |
---|
884 | /* [04]:LISTEN 0 : Normal Operation */ |
---|
885 | /* [03]:res 0 : reserved */ |
---|
886 | /* [02]:WUPM 0 : No protect. from spurious WakeUp */ |
---|
887 | /* [01]:SLPAK 0 : Sleep Mode Acknowledge (rd. only) */ |
---|
888 | /* [00]:INITAK 0 : Init. Mode Acknowledge (rd. only) */ |
---|
889 | /* enable MSCAN A_/_B */ |
---|
890 | mscan->ctl1 |= (CTL1_CANE); |
---|
891 | |
---|
892 | return; |
---|
893 | |
---|
894 | } |
---|
895 | |
---|
896 | |
---|
897 | /* |
---|
898 | * MPC5x00 MSCAN perform settings in normal mode |
---|
899 | */ |
---|
900 | void mpc5200_mscan_perform_normal_mode_settings(volatile struct mpc5200_mscan *mscan) |
---|
901 | { |
---|
902 | |
---|
903 | /* Control Register 0 --------------------------------------------*/ |
---|
904 | /* [07]:RXFRM 0 : Recv. Frame, Flag Bit (rd.&clear only) */ |
---|
905 | /* [06]:RXACT 0 : Recv. Active, Status Bit (rd. only) */ |
---|
906 | /* [05]:CSWAI 0 : CAN Stops in Wait Mode */ |
---|
907 | /* [04]:SYNCH 0 : Synchronized, Status Bit (rd. only) */ |
---|
908 | /* [03]:TIME 1 : Generate Timestamps */ |
---|
909 | /* [02]:WUPE 0 : WakeUp Disabled */ |
---|
910 | /* [01]:SLPRQ 0 : No Sleep Mode Request */ |
---|
911 | /* [00]:INITRQ 0 : No init. Mode Request */ |
---|
912 | /* Disable wait mode, enable timestamps */ |
---|
913 | mscan->ctl0 &= ~(CTL0_CSWAI); |
---|
914 | mscan->ctl0 |= (CTL0_TIME); |
---|
915 | |
---|
916 | return; |
---|
917 | |
---|
918 | } |
---|
919 | |
---|
920 | rtems_status_code mpc5200_mscan_set_mode(rtems_device_minor_number minor, uint8_t mode) |
---|
921 | { |
---|
922 | struct mscan_channel_info *chan = NULL; |
---|
923 | volatile struct mpc5200_mscan *mscan = NULL; |
---|
924 | |
---|
925 | switch(minor) |
---|
926 | { |
---|
927 | |
---|
928 | case MSCAN_A: |
---|
929 | case MSCAN_B: |
---|
930 | chan = &chan_info[minor]; |
---|
931 | mscan = chan->regs; |
---|
932 | break; |
---|
933 | |
---|
934 | default: |
---|
935 | return RTEMS_UNSATISFIED; |
---|
936 | break; |
---|
937 | } |
---|
938 | |
---|
939 | if(chan->mode == mode) |
---|
940 | return RTEMS_SUCCESSFUL; |
---|
941 | |
---|
942 | switch(mode) |
---|
943 | { |
---|
944 | |
---|
945 | case MSCAN_INIT_NORMAL_MODE: |
---|
946 | /* if not already set enter init mode */ |
---|
947 | mpc5200_mscan_enter_init_mode(mscan); |
---|
948 | /* perform initialization which has to be done in init mode */ |
---|
949 | mpc5200_mscan_perform_init_mode_settings(mscan); |
---|
950 | break; |
---|
951 | |
---|
952 | case MSCAN_NORMAL_MODE: |
---|
953 | /* if not already set enter init mode */ |
---|
954 | mpc5200_mscan_enter_init_mode(mscan); |
---|
955 | |
---|
956 | if((chan->mode) == MSCAN_INITIALIZED_MODE) |
---|
957 | { |
---|
958 | |
---|
959 | /* perform initialization which has to be done in init mode */ |
---|
960 | mpc5200_mscan_perform_init_mode_settings(mscan); |
---|
961 | } |
---|
962 | |
---|
963 | if((chan->mode) == MSCAN_SLEEP_MODE) |
---|
964 | { |
---|
965 | |
---|
966 | /* exit sleep mode */ |
---|
967 | mpc5200_mscan_exit_sleep_mode(mscan); |
---|
968 | } |
---|
969 | |
---|
970 | /* exit init mode */ |
---|
971 | mpc5200_mscan_exit_init_mode(mscan); |
---|
972 | /* enable ints. */ |
---|
973 | mpc5200_mscan_int_enable(mscan); |
---|
974 | /* wait for bus sync. */ |
---|
975 | mpc5200_mscan_wait_sync(mscan); |
---|
976 | break; |
---|
977 | |
---|
978 | case MSCAN_SLEEP_MODE: |
---|
979 | /* disable ints. */ |
---|
980 | mpc5200_mscan_int_disable(mscan); |
---|
981 | /* exit sleep mode */ |
---|
982 | mpc5200_mscan_enter_sleep_mode(mscan); |
---|
983 | break; |
---|
984 | |
---|
985 | default: |
---|
986 | return RTEMS_UNSATISFIED; |
---|
987 | break; |
---|
988 | |
---|
989 | } |
---|
990 | |
---|
991 | /* set new channel mode */ |
---|
992 | chan->mode = mode; |
---|
993 | |
---|
994 | return RTEMS_SUCCESSFUL; |
---|
995 | |
---|
996 | } |
---|
997 | |
---|
998 | |
---|
999 | /* |
---|
1000 | * initialization of channel info. |
---|
1001 | */ |
---|
1002 | rtems_status_code mscan_channel_initialize(rtems_device_major_number major, rtems_device_minor_number minor) |
---|
1003 | { |
---|
1004 | rtems_status_code status; |
---|
1005 | struct mscan_channel_info *chan = &chan_info[minor]; |
---|
1006 | |
---|
1007 | |
---|
1008 | /* set registers according to MSCAN channel information */ |
---|
1009 | switch(minor) |
---|
1010 | { |
---|
1011 | |
---|
1012 | case MSCAN_A: |
---|
1013 | chan->rx_qname = rtems_build_name ('C', 'N', 'A', 'Q'); |
---|
1014 | chan->tx_rb_sname = rtems_build_name ('C', 'N', 'A', 'S'); |
---|
1015 | |
---|
1016 | /* register RTEMS device names for MSCAN A */ |
---|
1017 | if((status = rtems_io_register_name (MSCAN_A_DEV_NAME, major, MSCAN_A)) != RTEMS_SUCCESSFUL) |
---|
1018 | return status; |
---|
1019 | |
---|
1020 | /* register RTEMS device names for MSCAN 0 */ |
---|
1021 | if((status = rtems_io_register_name (MSCAN_0_DEV_NAME, major, MSCAN_A)) != RTEMS_SUCCESSFUL) |
---|
1022 | return status; |
---|
1023 | |
---|
1024 | /* allocate the space for MSCAN A tx ring buffer */ |
---|
1025 | if(((chan->tx_ring_buf.buf_ptr) = malloc(sizeof(struct can_message)*(NO_OF_MSCAN_TX_BUFF+1))) != NULL) |
---|
1026 | { |
---|
1027 | chan->tx_ring_buf.head_ptr = chan->tx_ring_buf.tail_ptr = chan->tx_ring_buf.buf_ptr; |
---|
1028 | } |
---|
1029 | else |
---|
1030 | { |
---|
1031 | return RTEMS_UNSATISFIED; |
---|
1032 | } |
---|
1033 | break; |
---|
1034 | |
---|
1035 | case MSCAN_B: |
---|
1036 | chan->rx_qname = rtems_build_name ('C', 'N', 'B', 'Q'); |
---|
1037 | chan->tx_rb_sname = rtems_build_name ('C', 'N', 'B', 'S'); |
---|
1038 | |
---|
1039 | /* register RTEMS device names for MSCAN B */ |
---|
1040 | if((status = rtems_io_register_name (MSCAN_B_DEV_NAME, major, MSCAN_B)) != RTEMS_SUCCESSFUL) |
---|
1041 | return status; |
---|
1042 | |
---|
1043 | /* register RTEMS device names for MSCAN 1 */ |
---|
1044 | if((status = rtems_io_register_name (MSCAN_1_DEV_NAME, major, MSCAN_B)) != RTEMS_SUCCESSFUL) |
---|
1045 | return status; |
---|
1046 | |
---|
1047 | /* allocate the space for MSCAN B tx ring buffer */ |
---|
1048 | if(((chan->tx_ring_buf.buf_ptr) = malloc(sizeof(struct can_message)*(NO_OF_MSCAN_TX_BUFF+1))) != NULL) |
---|
1049 | { |
---|
1050 | chan->tx_ring_buf.head_ptr = chan->tx_ring_buf.tail_ptr = chan->tx_ring_buf.buf_ptr; |
---|
1051 | } |
---|
1052 | else |
---|
1053 | { |
---|
1054 | return RTEMS_UNSATISFIED; |
---|
1055 | } |
---|
1056 | break; |
---|
1057 | |
---|
1058 | default: |
---|
1059 | return RTEMS_UNSATISFIED; |
---|
1060 | break; |
---|
1061 | } |
---|
1062 | |
---|
1063 | /* create RTEMS rx message queue */ |
---|
1064 | status = rtems_message_queue_create(chan->rx_qname, |
---|
1065 | (uint32_t) NO_OF_MSCAN_RX_BUFF, |
---|
1066 | (uint32_t) MSCAN_MESSAGE_SIZE(sizeof(struct can_message)), |
---|
1067 | (rtems_attribute) RTEMS_LOCAL | RTEMS_FIFO, |
---|
1068 | (rtems_id *)&(chan->rx_qid)); |
---|
1069 | |
---|
1070 | /* create counting RTEMS tx ring buffer semaphore */ |
---|
1071 | status = rtems_semaphore_create(chan->tx_rb_sname, |
---|
1072 | (uint32_t)(NO_OF_MSCAN_TX_BUFF), |
---|
1073 | RTEMS_COUNTING_SEMAPHORE | RTEMS_NO_INHERIT_PRIORITY | RTEMS_NO_PRIORITY_CEILING | RTEMS_LOCAL, |
---|
1074 | (rtems_task_priority)0, |
---|
1075 | (rtems_id *)&(chan->tx_rb_sid)); |
---|
1076 | |
---|
1077 | /* Set up interrupts */ |
---|
1078 | if(!BSP_install_rtems_irq_handler(&(mpc5200_mscan_irq_data[minor]))) |
---|
1079 | rtems_panic("Can't attach MPC5x00 MSCAN interrupt handler %d\n", minor); |
---|
1080 | |
---|
1081 | /* basic setup for channel info. struct. */ |
---|
1082 | chan->regs = (struct mpc5200_mscan *)&(mpc5200.mscan[minor]); |
---|
1083 | chan->int_rx_err = 0; |
---|
1084 | chan->id_extended = FALSE; |
---|
1085 | chan->mode = MSCAN_INITIALIZED_MODE; |
---|
1086 | chan->tx_buf_no = NO_OF_MSCAN_TX_BUFF; |
---|
1087 | |
---|
1088 | return status; |
---|
1089 | |
---|
1090 | } |
---|
1091 | |
---|
1092 | |
---|
1093 | /* |
---|
1094 | * MPC5x00 MSCAN device initialization |
---|
1095 | */ |
---|
1096 | rtems_device_driver mscan_initialize(rtems_device_major_number major, |
---|
1097 | rtems_device_minor_number minor, |
---|
1098 | void *arg |
---|
1099 | ) |
---|
1100 | { |
---|
1101 | rtems_status_code status; |
---|
1102 | |
---|
1103 | /* Initialization requested via RTEMS */ |
---|
1104 | if((status = mscan_channel_initialize(major,MSCAN_A)) != RTEMS_SUCCESSFUL) |
---|
1105 | rtems_fatal_error_occurred(status); |
---|
1106 | |
---|
1107 | if((status = mscan_channel_initialize(major,MSCAN_B)) != RTEMS_SUCCESSFUL) |
---|
1108 | rtems_fatal_error_occurred(status); |
---|
1109 | |
---|
1110 | if((status = mpc5200_mscan_set_mode(MSCAN_A, MSCAN_INIT_NORMAL_MODE)) != RTEMS_SUCCESSFUL) |
---|
1111 | rtems_fatal_error_occurred(status); |
---|
1112 | |
---|
1113 | if((status = mpc5200_mscan_set_mode(MSCAN_B, MSCAN_INIT_NORMAL_MODE)) != RTEMS_SUCCESSFUL) |
---|
1114 | rtems_fatal_error_occurred(status); |
---|
1115 | |
---|
1116 | return status; |
---|
1117 | |
---|
1118 | } |
---|
1119 | |
---|
1120 | |
---|
1121 | /* |
---|
1122 | * MPC5x00 MSCAN device open |
---|
1123 | */ |
---|
1124 | rtems_device_driver mscan_open( rtems_device_major_number major, |
---|
1125 | rtems_device_minor_number minor, |
---|
1126 | void * arg |
---|
1127 | ) |
---|
1128 | { |
---|
1129 | rtems_status_code status = RTEMS_SUCCESSFUL; |
---|
1130 | struct mscan_channel_info *chan = NULL; |
---|
1131 | |
---|
1132 | switch(minor) |
---|
1133 | { |
---|
1134 | |
---|
1135 | case MSCAN_A: |
---|
1136 | case MSCAN_B: |
---|
1137 | chan = &chan_info[minor]; |
---|
1138 | break; |
---|
1139 | |
---|
1140 | default: |
---|
1141 | return RTEMS_UNSATISFIED; |
---|
1142 | break; |
---|
1143 | } |
---|
1144 | |
---|
1145 | |
---|
1146 | /* check mode */ |
---|
1147 | if((chan->mode) == MSCAN_SLEEP_MODE) |
---|
1148 | { |
---|
1149 | |
---|
1150 | /* if not already set enter init mode */ |
---|
1151 | status = mpc5200_mscan_set_mode(minor, MSCAN_NORMAL_MODE); |
---|
1152 | } |
---|
1153 | |
---|
1154 | return status; |
---|
1155 | |
---|
1156 | } |
---|
1157 | |
---|
1158 | |
---|
1159 | /* |
---|
1160 | * MPC5x00 MSCAN device close |
---|
1161 | */ |
---|
1162 | rtems_device_driver mscan_close( rtems_device_major_number major, |
---|
1163 | rtems_device_minor_number minor, |
---|
1164 | void * arg |
---|
1165 | ) |
---|
1166 | { |
---|
1167 | rtems_status_code status; |
---|
1168 | struct mscan_channel_info *chan = NULL; |
---|
1169 | |
---|
1170 | switch(minor) |
---|
1171 | { |
---|
1172 | |
---|
1173 | case MSCAN_A: |
---|
1174 | case MSCAN_B: |
---|
1175 | chan = &chan_info[minor]; |
---|
1176 | break; |
---|
1177 | |
---|
1178 | default: |
---|
1179 | return RTEMS_UNSATISFIED; |
---|
1180 | break; |
---|
1181 | } |
---|
1182 | |
---|
1183 | /* enter deep sleep mode */ |
---|
1184 | status = mpc5200_mscan_set_mode(minor, MSCAN_SLEEP_MODE); |
---|
1185 | |
---|
1186 | return status; |
---|
1187 | |
---|
1188 | } |
---|
1189 | |
---|
1190 | |
---|
1191 | /* |
---|
1192 | * MPC5x00 MSCAN device read |
---|
1193 | */ |
---|
1194 | rtems_device_driver mscan_read( rtems_device_major_number major, |
---|
1195 | rtems_device_minor_number minor, |
---|
1196 | void * arg |
---|
1197 | ) |
---|
1198 | { |
---|
1199 | rtems_status_code status; |
---|
1200 | uint32_t message_size = 0; |
---|
1201 | rtems_libio_rw_args_t *parms = (rtems_libio_rw_args_t *)arg; |
---|
1202 | struct mscan_rx_parms *rx_parms = (struct mscan_rx_parms *)(parms->buffer); |
---|
1203 | struct can_message *rx_mess = (struct can_message *)(rx_parms->rx_mess); |
---|
1204 | struct mscan_channel_info *chan = NULL; |
---|
1205 | |
---|
1206 | switch(minor) |
---|
1207 | { |
---|
1208 | |
---|
1209 | case MSCAN_A: |
---|
1210 | case MSCAN_B: |
---|
1211 | chan = &chan_info[minor]; |
---|
1212 | break; |
---|
1213 | |
---|
1214 | default: |
---|
1215 | return RTEMS_UNSATISFIED; |
---|
1216 | break; |
---|
1217 | } |
---|
1218 | |
---|
1219 | |
---|
1220 | /* end init mode if it is first read */ |
---|
1221 | if((chan->mode) == MSCAN_INIT_NORMAL_MODE) |
---|
1222 | { |
---|
1223 | |
---|
1224 | /* if not already set enter init mode */ |
---|
1225 | mpc5200_mscan_set_mode(minor, MSCAN_NORMAL_MODE); |
---|
1226 | } |
---|
1227 | |
---|
1228 | if((status = rtems_message_queue_receive(chan->rx_qid, |
---|
1229 | (void *)(rx_mess), |
---|
1230 | (uint32_t *)&message_size, |
---|
1231 | (uint32_t)(rx_parms->rx_flags), |
---|
1232 | (rtems_interval)(rx_parms->rx_timeout))) |
---|
1233 | != RTEMS_SUCCESSFUL) |
---|
1234 | { |
---|
1235 | |
---|
1236 | parms->bytes_moved = 0; |
---|
1237 | |
---|
1238 | } |
---|
1239 | else |
---|
1240 | { |
---|
1241 | |
---|
1242 | parms->bytes_moved = sizeof(struct can_message); |
---|
1243 | |
---|
1244 | } |
---|
1245 | |
---|
1246 | return status; |
---|
1247 | |
---|
1248 | } |
---|
1249 | |
---|
1250 | |
---|
1251 | /* |
---|
1252 | * MPC5x00 MSCAN device write |
---|
1253 | */ |
---|
1254 | rtems_device_driver mscan_write( rtems_device_major_number major, |
---|
1255 | rtems_device_minor_number minor, |
---|
1256 | void * arg |
---|
1257 | ) |
---|
1258 | { |
---|
1259 | rtems_status_code status; |
---|
1260 | rtems_libio_rw_args_t *parms = (rtems_libio_rw_args_t *)arg; |
---|
1261 | struct mscan_tx_parms *tx_parms = (struct mscan_tx_parms *)(parms->buffer); |
---|
1262 | struct can_message *tx_mess = (struct can_message *)(tx_parms->tx_mess); |
---|
1263 | struct mscan_channel_info *chan = NULL; |
---|
1264 | mscan_handle *mscan_hdl = NULL; |
---|
1265 | volatile struct mpc5200_mscan *mscan = NULL; |
---|
1266 | |
---|
1267 | switch(minor) |
---|
1268 | { |
---|
1269 | case MSCAN_A: |
---|
1270 | case MSCAN_B: |
---|
1271 | chan = &chan_info[minor]; |
---|
1272 | mscan_hdl = mpc5200_mscan_irq_data[minor].handle; |
---|
1273 | mscan = chan->regs; |
---|
1274 | break; |
---|
1275 | |
---|
1276 | default: |
---|
1277 | return RTEMS_UNSATISFIED; |
---|
1278 | break; |
---|
1279 | } |
---|
1280 | |
---|
1281 | /* end init mode if it is first write */ |
---|
1282 | if((chan->mode) == MSCAN_INIT_NORMAL_MODE) |
---|
1283 | { |
---|
1284 | |
---|
1285 | /* if not already set enter init mode */ |
---|
1286 | mpc5200_mscan_set_mode(minor, MSCAN_NORMAL_MODE); |
---|
1287 | } |
---|
1288 | |
---|
1289 | /* preset moved bytes */ |
---|
1290 | parms->bytes_moved = 0; |
---|
1291 | |
---|
1292 | /* obtain counting semaphore of tx ring buffer */ |
---|
1293 | if((status = rtems_semaphore_obtain((rtems_id)(chan->tx_rb_sid), |
---|
1294 | RTEMS_NO_WAIT, |
---|
1295 | (rtems_interval)0)) |
---|
1296 | == RTEMS_SUCCESSFUL) |
---|
1297 | { |
---|
1298 | |
---|
1299 | /* append the TOUCAN tx_id to the mess. due to interrupt handling */ |
---|
1300 | tx_mess->toucan_tx_idx = tx_parms->tx_idx; |
---|
1301 | |
---|
1302 | /* fill the tx ring buffer with the message */ |
---|
1303 | fill_tx_buffer(chan, tx_mess); |
---|
1304 | |
---|
1305 | /* enable message buffer specific interrupt */ |
---|
1306 | mscan->tier |= (TIER_TXEI0 | TIER_TXEI1 | TIER_TXEI2); |
---|
1307 | |
---|
1308 | /* calculate moved bytes */ |
---|
1309 | parms->bytes_moved = (tx_mess->mess_len) & 0x000F; |
---|
1310 | |
---|
1311 | } |
---|
1312 | |
---|
1313 | return status; |
---|
1314 | |
---|
1315 | } |
---|
1316 | |
---|
1317 | |
---|
1318 | /* |
---|
1319 | * MPC5x00 MSCAN device control |
---|
1320 | */ |
---|
1321 | rtems_device_driver mscan_control( rtems_device_major_number major, |
---|
1322 | rtems_device_minor_number minor, |
---|
1323 | void * arg |
---|
1324 | ) |
---|
1325 | { |
---|
1326 | rtems_status_code status; |
---|
1327 | uint16_t tx_id; |
---|
1328 | rtems_libio_ioctl_args_t *parms = (rtems_libio_ioctl_args_t *)arg; |
---|
1329 | struct mscan_ctrl_parms *ctrl_parms = (struct mscan_ctrl_parms *)(parms->buffer); |
---|
1330 | struct mscan_channel_info *chan = NULL; |
---|
1331 | mscan_handle *mscan_hdl = NULL; |
---|
1332 | volatile struct mpc5200_mscan *mscan = NULL; |
---|
1333 | uint8_t tx_buf_count = 0; |
---|
1334 | |
---|
1335 | switch(minor) |
---|
1336 | { |
---|
1337 | |
---|
1338 | case MSCAN_A: |
---|
1339 | case MSCAN_B: |
---|
1340 | chan = &chan_info[minor]; |
---|
1341 | mscan_hdl = mpc5200_mscan_irq_data[minor].handle; |
---|
1342 | mscan = chan->regs; |
---|
1343 | break; |
---|
1344 | |
---|
1345 | default: |
---|
1346 | return RTEMS_UNSATISFIED; |
---|
1347 | break; |
---|
1348 | } |
---|
1349 | |
---|
1350 | switch(parms->command) |
---|
1351 | { |
---|
1352 | |
---|
1353 | /* TOUCAN callback initialization for MSCAN */ |
---|
1354 | case TOUCAN_MSCAN_INIT: |
---|
1355 | mscan_hdl->toucan_callback = ctrl_parms->toucan_cb_fnc; |
---|
1356 | break; |
---|
1357 | |
---|
1358 | /* set rx buffer ID */ |
---|
1359 | case MSCAN_SET_RX_ID: |
---|
1360 | |
---|
1361 | /* enter init mode */ |
---|
1362 | mpc5200_mscan_enter_init_mode(mscan); |
---|
1363 | |
---|
1364 | switch(ctrl_parms->ctrl_reg_no) |
---|
1365 | { |
---|
1366 | |
---|
1367 | case RX_BUFFER_0: |
---|
1368 | mscan->idar0 = SET_IDR0(ctrl_parms->ctrl_id); |
---|
1369 | mscan->idar1 = SET_IDR1(ctrl_parms->ctrl_id); |
---|
1370 | break; |
---|
1371 | |
---|
1372 | case RX_BUFFER_1: |
---|
1373 | mscan->idar2 = SET_IDR2(ctrl_parms->ctrl_id); |
---|
1374 | mscan->idar3 = SET_IDR3(ctrl_parms->ctrl_id); |
---|
1375 | break; |
---|
1376 | |
---|
1377 | case RX_BUFFER_2: |
---|
1378 | mscan->idar4 = SET_IDR4(ctrl_parms->ctrl_id); |
---|
1379 | mscan->idar5 = SET_IDR5(ctrl_parms->ctrl_id); |
---|
1380 | break; |
---|
1381 | |
---|
1382 | case RX_BUFFER_3: |
---|
1383 | mscan->idar6 = SET_IDR6(ctrl_parms->ctrl_id); |
---|
1384 | mscan->idar7 = SET_IDR7(ctrl_parms->ctrl_id); |
---|
1385 | break; |
---|
1386 | |
---|
1387 | default: |
---|
1388 | break; |
---|
1389 | |
---|
1390 | } |
---|
1391 | |
---|
1392 | /* exit init mode and perform further initialization which is required in the normal mode */ |
---|
1393 | mpc5200_mscan_exit_init_mode(mscan); |
---|
1394 | |
---|
1395 | /* enable ints. */ |
---|
1396 | mpc5200_mscan_int_enable(mscan); |
---|
1397 | |
---|
1398 | /* wait for bus sync. */ |
---|
1399 | mpc5200_mscan_wait_sync(mscan); |
---|
1400 | |
---|
1401 | return RTEMS_SUCCESSFUL; |
---|
1402 | break; |
---|
1403 | |
---|
1404 | /* get rx buffer ID */ |
---|
1405 | case MSCAN_GET_RX_ID: |
---|
1406 | |
---|
1407 | switch(ctrl_parms->ctrl_reg_no) |
---|
1408 | { |
---|
1409 | |
---|
1410 | case RX_BUFFER_0: |
---|
1411 | ctrl_parms->ctrl_id = GET_IDR0(mscan->idar0) | GET_IDR1(mscan->idar1); |
---|
1412 | break; |
---|
1413 | |
---|
1414 | case RX_BUFFER_1: |
---|
1415 | ctrl_parms->ctrl_id = GET_IDR2(mscan->idar2) | GET_IDR3(mscan->idar3); |
---|
1416 | break; |
---|
1417 | |
---|
1418 | case RX_BUFFER_2: |
---|
1419 | ctrl_parms->ctrl_id = GET_IDR4(mscan->idar4) | GET_IDR5(mscan->idar5); |
---|
1420 | break; |
---|
1421 | |
---|
1422 | case RX_BUFFER_3: |
---|
1423 | ctrl_parms->ctrl_id = GET_IDR6(mscan->idar6) | GET_IDR7(mscan->idar7); |
---|
1424 | break; |
---|
1425 | |
---|
1426 | default: |
---|
1427 | break; |
---|
1428 | |
---|
1429 | } |
---|
1430 | |
---|
1431 | break; |
---|
1432 | |
---|
1433 | /* set rx buffer ID mask */ |
---|
1434 | case MSCAN_SET_RX_ID_MASK: |
---|
1435 | |
---|
1436 | /* enter init mode */ |
---|
1437 | mpc5200_mscan_enter_init_mode(mscan); |
---|
1438 | |
---|
1439 | switch(ctrl_parms->ctrl_reg_no) |
---|
1440 | { |
---|
1441 | |
---|
1442 | case RX_BUFFER_0: |
---|
1443 | mscan->idmr0 = SET_IDMR0(ctrl_parms->ctrl_id_mask); |
---|
1444 | mscan->idmr1 = SET_IDMR1(ctrl_parms->ctrl_id_mask); |
---|
1445 | break; |
---|
1446 | |
---|
1447 | case RX_BUFFER_1: |
---|
1448 | mscan->idmr2 = SET_IDMR2(ctrl_parms->ctrl_id_mask); |
---|
1449 | mscan->idmr3 = SET_IDMR3(ctrl_parms->ctrl_id_mask); |
---|
1450 | break; |
---|
1451 | |
---|
1452 | case RX_BUFFER_2: |
---|
1453 | mscan->idmr4 = SET_IDMR4(ctrl_parms->ctrl_id_mask); |
---|
1454 | mscan->idmr5 = SET_IDMR5(ctrl_parms->ctrl_id_mask); |
---|
1455 | break; |
---|
1456 | |
---|
1457 | case RX_BUFFER_3: |
---|
1458 | mscan->idmr6 = SET_IDMR6(ctrl_parms->ctrl_id_mask); |
---|
1459 | mscan->idmr7 = SET_IDMR7(ctrl_parms->ctrl_id_mask); |
---|
1460 | break; |
---|
1461 | |
---|
1462 | default: |
---|
1463 | break; |
---|
1464 | |
---|
1465 | } |
---|
1466 | |
---|
1467 | /* exit init mode and perform further initialization which is required in the normal mode */ |
---|
1468 | mpc5200_mscan_exit_init_mode(mscan); |
---|
1469 | |
---|
1470 | /* enable ints. */ |
---|
1471 | mpc5200_mscan_int_enable(mscan); |
---|
1472 | |
---|
1473 | /* wait for bus sync. */ |
---|
1474 | mpc5200_mscan_wait_sync(mscan); |
---|
1475 | |
---|
1476 | break; |
---|
1477 | |
---|
1478 | /* get rx buffer ID mask */ |
---|
1479 | case MSCAN_GET_RX_ID_MASK: |
---|
1480 | |
---|
1481 | switch(ctrl_parms->ctrl_reg_no) |
---|
1482 | { |
---|
1483 | |
---|
1484 | case RX_BUFFER_0: |
---|
1485 | ctrl_parms->ctrl_id_mask = (GET_IDMR0(mscan->idmr0) | GET_IDMR1(mscan->idmr1)); |
---|
1486 | break; |
---|
1487 | |
---|
1488 | case RX_BUFFER_1: |
---|
1489 | ctrl_parms->ctrl_id_mask = (GET_IDMR2(mscan->idmr2) | GET_IDMR3(mscan->idmr3)); |
---|
1490 | break; |
---|
1491 | |
---|
1492 | case RX_BUFFER_2: |
---|
1493 | ctrl_parms->ctrl_id_mask = (GET_IDMR4(mscan->idmr4) | GET_IDMR5(mscan->idmr5)); |
---|
1494 | break; |
---|
1495 | |
---|
1496 | case RX_BUFFER_3: |
---|
1497 | ctrl_parms->ctrl_id_mask = (GET_IDMR6(mscan->idmr6) | GET_IDMR7(mscan->idmr7)); |
---|
1498 | break; |
---|
1499 | |
---|
1500 | default: |
---|
1501 | break; |
---|
1502 | |
---|
1503 | } |
---|
1504 | |
---|
1505 | /* set tx buffer ID */ |
---|
1506 | case MSCAN_SET_TX_ID: |
---|
1507 | |
---|
1508 | /* check for availability of tx buffer */ |
---|
1509 | if(!((mscan->tflg) & (uint8_t)(ctrl_parms->ctrl_reg_no))) |
---|
1510 | { |
---|
1511 | |
---|
1512 | /* do abort tx buf. request */ |
---|
1513 | mscan->tarq = (uint8_t)(ctrl_parms->ctrl_reg_no); |
---|
1514 | |
---|
1515 | /* wait for abort tx buf. ack. */ |
---|
1516 | while((mscan->taak) & (uint8_t)(ctrl_parms->ctrl_reg_no)); |
---|
1517 | |
---|
1518 | } |
---|
1519 | |
---|
1520 | /* select tx buf. */ |
---|
1521 | mscan->bsel = (uint8_t)(ctrl_parms->ctrl_reg_no); |
---|
1522 | |
---|
1523 | /* set the tx id of selected buf. */ |
---|
1524 | tx_id = ctrl_parms->ctrl_id; |
---|
1525 | mscan->txidr0 = SET_IDR0(tx_id); |
---|
1526 | mscan->txidr1 = SET_IDR1(tx_id); |
---|
1527 | mscan->txidr2 = 0; |
---|
1528 | mscan->txidr3 = 0; |
---|
1529 | |
---|
1530 | break; |
---|
1531 | |
---|
1532 | /* get tx buffer ID */ |
---|
1533 | case MSCAN_GET_TX_ID: |
---|
1534 | |
---|
1535 | /* select tx buf. */ |
---|
1536 | mscan->bsel = (uint8_t)(ctrl_parms->ctrl_reg_no); |
---|
1537 | |
---|
1538 | /* get tx id. of selected buf. */ |
---|
1539 | ctrl_parms->ctrl_id = GET_IDR0(mscan->txidr0) | GET_IDR1(mscan->txidr1); |
---|
1540 | |
---|
1541 | break; |
---|
1542 | |
---|
1543 | /* set can bitrate */ |
---|
1544 | case MSCAN_SET_BAUDRATE: |
---|
1545 | |
---|
1546 | /* check bitrate settings */ |
---|
1547 | if(((ctrl_parms->ctrl_can_bitrate) >= CAN_BIT_RATE_MIN) && ((ctrl_parms->ctrl_can_bitrate) <= CAN_BIT_RATE_MAX)) { |
---|
1548 | |
---|
1549 | /* enter init mode */ |
---|
1550 | mpc5200_mscan_enter_init_mode(mscan); |
---|
1551 | |
---|
1552 | /* perform all can bit time settings */ |
---|
1553 | mpc5200_mscan_perform_bit_time_settings(mscan,(uint32_t)(ctrl_parms->ctrl_can_bitrate),IPB_CLOCK); |
---|
1554 | |
---|
1555 | /* exit init mode and perform further initialization which is required in the normal mode */ |
---|
1556 | mpc5200_mscan_exit_init_mode(mscan); |
---|
1557 | |
---|
1558 | /* enable ints. */ |
---|
1559 | mpc5200_mscan_int_enable(mscan); |
---|
1560 | |
---|
1561 | /* wait for bus sync. */ |
---|
1562 | mpc5200_mscan_wait_sync(mscan); |
---|
1563 | |
---|
1564 | return RTEMS_SUCCESSFUL; |
---|
1565 | } |
---|
1566 | else { |
---|
1567 | |
---|
1568 | return RTEMS_UNSATISFIED; |
---|
1569 | } |
---|
1570 | |
---|
1571 | break; |
---|
1572 | |
---|
1573 | case SET_TX_BUF_NO: |
---|
1574 | |
---|
1575 | /* check for different settings of tx ring buffer */ |
---|
1576 | if((tx_buf_count = chan->tx_buf_no) != (uint8_t)(ctrl_parms->ctrl_tx_buf_no)) |
---|
1577 | { |
---|
1578 | |
---|
1579 | /* preset the channel specific no of messages in the tx ring buffer */ |
---|
1580 | tx_buf_count = chan->tx_buf_no; |
---|
1581 | |
---|
1582 | /* try to obtain all of the tx ring buffers */ |
---|
1583 | while(tx_buf_count > 0) |
---|
1584 | { |
---|
1585 | |
---|
1586 | /* obtain semaphore of all tx ring buffers */ |
---|
1587 | if((status = rtems_semaphore_obtain((rtems_id)(chan->tx_rb_sid), |
---|
1588 | RTEMS_WAIT, |
---|
1589 | (rtems_interval)10)) |
---|
1590 | == RTEMS_SUCCESSFUL) |
---|
1591 | { |
---|
1592 | |
---|
1593 | tx_buf_count--; |
---|
1594 | |
---|
1595 | } |
---|
1596 | |
---|
1597 | } |
---|
1598 | |
---|
1599 | /* free the former tx ring buffer */ |
---|
1600 | free((void *)chan->tx_ring_buf.buf_ptr); |
---|
1601 | |
---|
1602 | /* allocate the tx ring buffer with new size */ |
---|
1603 | if(((chan->tx_ring_buf.buf_ptr) = malloc(sizeof(struct can_message)*((uint8_t)(ctrl_parms->ctrl_tx_buf_no)+1))) != NULL) |
---|
1604 | { |
---|
1605 | chan->tx_ring_buf.head_ptr = chan->tx_ring_buf.tail_ptr = chan->tx_ring_buf.buf_ptr; |
---|
1606 | } |
---|
1607 | else |
---|
1608 | { |
---|
1609 | return RTEMS_UNSATISFIED; |
---|
1610 | } |
---|
1611 | |
---|
1612 | /* set the new amount of tx buffers */ |
---|
1613 | chan->tx_buf_no = (uint8_t)(ctrl_parms->ctrl_tx_buf_no); |
---|
1614 | |
---|
1615 | /* release the semaphore of all tx ring buffers */ |
---|
1616 | while(tx_buf_count < chan->tx_buf_no) |
---|
1617 | { |
---|
1618 | |
---|
1619 | /* obtain semaphore of all tx ring buffers */ |
---|
1620 | rtems_semaphore_release((rtems_id)(chan->tx_rb_sid)); |
---|
1621 | |
---|
1622 | tx_buf_count++; |
---|
1623 | |
---|
1624 | } |
---|
1625 | |
---|
1626 | } |
---|
1627 | else |
---|
1628 | { |
---|
1629 | |
---|
1630 | return RTEMS_SUCCESSFUL; |
---|
1631 | |
---|
1632 | } |
---|
1633 | break; |
---|
1634 | |
---|
1635 | default: |
---|
1636 | break; |
---|
1637 | |
---|
1638 | } |
---|
1639 | |
---|
1640 | return RTEMS_SUCCESSFUL; |
---|
1641 | |
---|
1642 | } |
---|
1643 | |
---|