/*===============================================================*\
| Project: RTEMS generic MPC5200 BSP |
+-----------------------------------------------------------------+
| Copyright (c) 2005 |
| Embedded Brains GmbH |
| Obere Lagerstr. 30 |
| D-82178 Puchheim |
| Germany |
| rtems@embedded-brains.de |
+-----------------------------------------------------------------+
| The license and distribution terms for this file may be |
| found in the file LICENSE in this distribution or at |
| |
| http://www.rtems.com/license/LICENSE. |
| |
+-----------------------------------------------------------------+
| this file contains the MSCAN driver |
\*===============================================================*/
#include <stdio.h>
#include <stdlib.h>
#include <rtems.h>
#include <rtems/error.h>
#include <rtems/libio.h>
#include <string.h>
#include <bsp.h>
#include "../irq/irq.h"
#include "../include/mpc5200.h"
#include "mscan.h"
/* #define MSCAN_LOOPBACK */
struct mpc5200_rx_cntrl mpc5200_mscan_rx_cntrl[MPC5200_CAN_NO];
static struct mscan_channel_info chan_info[MPC5200_CAN_NO];
/*
* MPC5x00 MSCAN interrupt handler
*/
static void mpc5200_mscan_interrupt_handler(rtems_irq_hdl_param handle)
{
rtems_status_code status;
mscan_handle *mscan_hdl = (mscan_handle *)handle;
struct mscan_channel_info *chan = &chan_info[mscan_hdl->mscan_channel];
struct can_message rx_mess, *rx_mess_ptr;
volatile struct mpc5200_mscan *mscan = chan->regs;
/*
handle tx interrupts
*/
/* check and disable tx interrupt for message buffer 0 */
if(mscan->tier & MSCAN_TX_BUFF0)
mscan->tier &= ~(MSCAN_TX_BUFF0);
/* check and disable tx interrupt for message buffer 1 */
if(mscan->tier & MSCAN_TX_BUFF1)
mscan->tier &= ~(MSCAN_TX_BUFF1);
/* check and disable tx interrupt for message buffer 2 */
if(mscan->tier & MSCAN_TX_BUFF2)
mscan->tier &= ~(MSCAN_TX_BUFF2);
/*
handle rx interrupts
*/
/* check for rx interrupt source */
if(mscan->rier & RIER_RXFIE)
{
/* can messages received ? */
while(mscan->rflg & RFLG_RXF)
{
if(mscan_hdl->toucan_callback == NULL)
{
/* select temporary rx buffer */
rx_mess_ptr = &rx_mess;
}
else
{
/* check the rx fliter-match indicators (16-bit filter mode) */
/* in case of more than one hit, lower hit has priority */
switch((mscan->idac) & 0x7)
{
case 0:
rx_mess_ptr = (struct can_message *)&(mpc5200_mscan_rx_cntrl[MSCAN_A].can_rx_message[0]);
break;
case 1:
rx_mess_ptr = (struct can_message *)&(mpc5200_mscan_rx_cntrl[MSCAN_A].can_rx_message[1]);
break;
case 2:
rx_mess_ptr = (struct can_message *)&(mpc5200_mscan_rx_cntrl[MSCAN_A].can_rx_message[2]);
break;
case 3:
rx_mess_ptr = (struct can_message *)&(mpc5200_mscan_rx_cntrl[MSCAN_A].can_rx_message[3]);
break;
/* this case should never happen */
default:
/* reset the rx indication flag */
mscan->rflg |= RFLG_RXF;
return;
break;
}
}
/* get rx ID */
rx_mess_ptr->mess_id = GET_IDR0(mscan->rxidr0) | GET_IDR1(mscan->rxidr1);
/* get rx len */
rx_mess_ptr->mess_len = ((mscan->rxdlr) & 0x0F);
/* get time stamp */
rx_mess_ptr->mess_time_stamp = ((mscan->rxtimh << 8) | (mscan->rxtiml));
/* get the data */
switch(rx_mess_ptr->mess_len)
{
case 8:
rx_mess_ptr->mess_data[7] = mscan->rxdsr7;
case 7:
rx_mess_ptr->mess_data[6] = mscan->rxdsr6;
case 6:
rx_mess_ptr->mess_data[5] = mscan->rxdsr5;
case 5:
rx_mess_ptr->mess_data[4] = mscan->rxdsr4;
case 4:
rx_mess_ptr->mess_data[3] = mscan->rxdsr3;
case 3:
rx_mess_ptr->mess_data[2] = mscan->rxdsr2;
case 2:
rx_mess_ptr->mess_data[1] = mscan->rxdsr1;
case 1:
rx_mess_ptr->mess_data[0] = mscan->rxdsr0;
case 0:
default:
break;
}
if(mscan_hdl->toucan_callback == NULL)
{
if((status = rtems_message_queue_send(chan->rx_qid, (void *)rx_mess_ptr, sizeof(struct can_message))) != RTEMS_SUCCESSFUL)
{
chan->int_rx_err++;
}
}
else
{
mscan_hdl->toucan_callback((int16_t)(((mscan->idac) & 0x7) + 3));
}
/* reset the rx indication flag */
mscan->rflg |= RFLG_RXF;
} /* end of while(mscan->rflg & RFLG_RXF) */
}
/* status change detected */
if(mscan->rflg & RFLG_CSCIF)
{
mscan->rflg |= RFLG_CSCIF;
if(mscan_hdl->toucan_callback != NULL)
{
mscan_hdl->toucan_callback((int16_t)(-1));
}
}
}
/*
* Disable MSCAN ints.
*/
void mpc5200_mscan_int_disable(volatile struct mpc5200_mscan *mscan)
{
/* RX Interrupt Enable on MSCAN_A/_B -----------------------------*/
/* [07]:WUPIE 0 : WakeUp interrupt disabled */
/* [06]:CSCIE 0 : Status Change interrupt disabled */
/* [05]:RSTATE1 0 : Recv. Status Change int. ,Bit 1 */
/* [04]:RSTATE0 0 : Recv. Status Change int. ,Bit 0 */
/* -> 00 rx status change int. disabled */
/* [03]:TSTAT1 0 : Transmit. Status Change int. , Bit 1 */
/* [02]:TSTAT0 0 : Transmit. Status Change int. , Bit 0 */
/* -> 00 tx status change int. disabled */
/* [01]:OVRIE 0 : Overrun Interrupt is disabled */
/* [00]:RXFIE 0 : Recv. Full interrupt is disabled */
mscan->rier &= ~(RIER_CSCIE | RIER_RXFIE);
/* TX Interrupt Enable on MSCAN_A/_B -----------------------------*/
/* [07]:res. 0 : reserved */
/* [06]:res. 0 : reserved */
/* [05]:res. 0 : reserved */
/* [04]:res. 0 : reserved */
/* [03]:res. 0 : reserved */
/* [02]:TSEG12 0 : TX2message buffer int. is disabled */
/* [01]:TSEG11 0 : TX1 message buffer int. is disabled */
/* [00]:TSEG10 0 : TX0 message buffer int. is disabled */
mscan->tier &= ~(TIER_TXEI2 | TIER_TXEI1 | TIER_TXEI0);
return;
}
/*
* Enable MSCAN ints.
*/
void mpc5200_mscan_int_enable(volatile struct mpc5200_mscan *mscan)
{
/* RX Interrupt Enable on MSCAN_A/_B -----------------------------*/
/* [07]:WUPIE 0 : WakeUp interrupt disabled */
/* [06]:CSCIE 1 : Status Change interrupt enabled */
/* [05]:RSTATE1 0 : Recv. Status Change int. ,Bit 1 */
/* [04]:RSTATE0 1 : Recv. Status Change int. ,Bit 0 */
/* -> 01 BusOff status changes enabled */
/* [03]:TSTAT1 0 : Transmit. Status Change int. , Bit 1 */
/* [02]:TSTAT0 1 : Transmit. Status Change int. , Bit 0 */
/* -> 01 BusOff status changes enabled */
/* [01]:OVRIE 0 : Overrun Interrupt is disabled */
/* [00]:RXFIE 1 : Recv. Full interrupt is enabled */
mscan->rier |= (RIER_CSCIE | RIER_RXFIE | RIER_RSTAT(1) | RIER_TSTAT(1));
return;
}
/*
* Unmask MPC5x00 MSCAN_A interrupts
*/
void mpc5200_mscan_a_on(const rtems_irq_connect_data* ptr)
{
volatile struct mpc5200_mscan *mscan = (&chan_info[MSCAN_A])->regs;
mpc5200_mscan_int_enable(mscan);
return;
}
/*
* Mask MPC5x00 MSCAN_A interrupts
*/
void mpc5200_mscan_a_off(const rtems_irq_connect_data* ptr)
{
volatile struct mpc5200_mscan *mscan = (&chan_info[MSCAN_A])->regs;
mpc5200_mscan_int_disable(mscan);
return;
}
/*
* Get MSCAN_A interrupt mask setting
*/
int mpc5200_mscan_a_isOn(const rtems_irq_connect_data* ptr)
{
volatile struct mpc5200_mscan *mscan = (&chan_info[MSCAN_A])->regs;
if((mscan->rier & RIER_CSCIE) && (mscan->rier & RIER_RXFIE))
return RTEMS_SUCCESSFUL;
else
return RTEMS_UNSATISFIED;
return RTEMS_SUCCESSFUL;
}
/*
* Unmask MPC5x00 MSCAN_B interrupts
*/
void mpc5200_mscan_b_on(const rtems_irq_connect_data* ptr)
{
volatile struct mpc5200_mscan *mscan = (&chan_info[MSCAN_B])->regs;
mpc5200_mscan_int_enable(mscan);
return;
}
/*
* Mask MPC5x00 MSCAN_B interrupts
*/
void mpc5200_mscan_b_off(const rtems_irq_connect_data* ptr)
{
volatile struct mpc5200_mscan *mscan = (&chan_info[MSCAN_B])->regs;
mpc5200_mscan_int_disable(mscan);
return;
}
/*
* Get MSCAN_B interrupt mask setting
*/
int mpc5200_mscan_b_isOn(const rtems_irq_connect_data* ptr)
{
volatile struct mpc5200_mscan *mscan = (&chan_info[MSCAN_B])->regs;
if((mscan->rier & RIER_CSCIE) && (mscan->rier & RIER_RXFIE))
return RTEMS_SUCCESSFUL;
else
return RTEMS_UNSATISFIED;
return RTEMS_SUCCESSFUL;
}
static mscan_handle mscan_a_handle =
{
MSCAN_A,
NULL
};
static mscan_handle mscan_b_handle =
{
MSCAN_B,
NULL
};
/*
* MPC5x00 MSCAN_A/_B irq data
*/
static rtems_irq_connect_data mpc5200_mscan_irq_data[MPC5200_CAN_NO] =
{{
BSP_SIU_IRQ_MSCAN1,
(rtems_irq_hdl) mpc5200_mscan_interrupt_handler,
(rtems_irq_hdl_param) &mscan_a_handle,
(rtems_irq_enable) mpc5200_mscan_a_on,
(rtems_irq_disable) mpc5200_mscan_a_off,
(rtems_irq_is_enabled) mpc5200_mscan_a_isOn
},
{
BSP_SIU_IRQ_MSCAN2,
(rtems_irq_hdl) mpc5200_mscan_interrupt_handler,
(rtems_irq_hdl_param) &mscan_b_handle,
(rtems_irq_enable) mpc5200_mscan_b_on,
(rtems_irq_disable) mpc5200_mscan_b_off,
(rtems_irq_is_enabled) mpc5200_mscan_b_isOn
}};
/*
* Enter MSCAN sleep mode
*/
void mpc5200_mscan_enter_sleep_mode(volatile struct mpc5200_mscan *mscan)
{
/* Control Register 0 --------------------------------------------*/
/* [07]:RXFRM 0 : Recv. Frame, Flag Bit (rd.&clear only) */
/* [06]:RXACT 0 : Recv. Active, Status Bit (rd. only) */
/* [05]:CSWAI 0 : CAN Stops in Wait Mode */
/* [04]:SYNCH 0 : Synchronized, Status Bit (rd. only) */
/* [03]:TIME 1 : Generate Timestamps */
/* [02]:WUPE 1 : WakeUp Enabled */
/* [01]:SLPRQ 0->1 : Sleep Mode Request */
/* [00]:INITRQ 0 : No init. Mode Request */
/* select sleep mode */
mscan->ctl0 |= (CTL0_SLPRQ);
/* Control Register 1 --------------------------------------------*/
/* [07]:CANE 0 : MSCAN Module is disabled */
/* [06]:CLKSRC 1 : Clock Source -> IPB-Clock (33 MHz) */
/* [05]:LOOPB 0 : No Loopback */
/* [04]:LISTEN 0 : Normal Operation */
/* [03]:res 0 : reserved */
/* [02]:WUPM 0 : No protect. from spurious WakeUp */
/* [01]:SLPAK 0->1 : Sleep Mode Acknowledge (rd. only) */
/* [00]:INITAK 0 : Init. Mode Acknowledge (rd. only) */
/* wait for sleep mode acknowledge */
while(!(mscan->ctl1 & CTL1_SLPAK));
return;
}
/*
* Exit MSCAN sleep mode
*/
void mpc5200_mscan_exit_sleep_mode(volatile struct mpc5200_mscan *mscan)
{
/* Control Register 0 --------------------------------------------*/
/* [07]:RXFRM 0 : Recv. Frame, Flag Bit (rd.&clear only) */
/* [06]:RXACT 0 : Recv. Active, Status Bit (rd. only) */
/* [05]:CSWAI 0 : CAN Stops in Wait Mode */
/* [04]:SYNCH 0 : Synchronized, Status Bit (rd. only) */
/* [03]:TIME 1 : Generate Timestamps */
/* [02]:WUPE 1 : WakeUp Enabled */
/* [01]:SLPRQ 0->1 : Sleep Mode Request */
/* [00]:INITRQ 0 : No init. Mode Request */
/* select sleep mode */
mscan->ctl0 &= ~(CTL0_SLPRQ);
/* Control Register 1 --------------------------------------------*/
/* [07]:CANE 0 : MSCAN Module is disabled */
/* [06]:CLKSRC 1 : Clock Source -> IPB-Clock (33 MHz) */
/* [05]:LOOPB 0 : No Loopback */
/* [04]:LISTEN 0 : Normal Operation */
/* [03]:res 0 : reserved */
/* [02]:WUPM 0 : No protect. from spurious WakeUp */
/* [01]:SLPAK 0->1 : Sleep Mode Acknowledge (rd. only) */
/* [00]:INITAK 0 : Init. Mode Acknowledge (rd. only) */
/* wait for sleep mode acknowledge */
while((mscan->ctl1 & CTL1_SLPAK));
return;
}
/*
* Enter MSCAN init mode and disconnect from bus
*/
void mpc5200_mscan_enter_init_mode(volatile struct mpc5200_mscan *mscan)
{
/* Control Register 0 --------------------------------------------*/
/* [07]:RXFRM 0 : Recv. Frame, Flag Bit (rd.&clear only) */
/* [06]:RXACT 0 : Recv. Active, Status Bit (rd. only) */
/* [05]:CSWAI 0 : CAN Stops in Wait Mode */
/* [04]:SYNCH 0 : Synchronized, Status Bit (rd. only) */
/* [03]:TIME 1 : Generate Timestamps */
/* [02]:WUPE 0 : WakeUp disabled */
/* [01]:SLPRQ 0 : No Sleep Mode Request */
/* [00]:INITRQ 0->1 : Init. Mode Request */
/* select init mode */
mscan->ctl0 |= (CTL0_INITRQ);
/* Control Register 1 --------------------------------------------*/
/* [07]:CANE 0 : MSCAN Module is disabled */
/* [06]:CLKSRC 1 : Clock Source -> IPB-Clock (33 MHz) */
/* [05]:LOOPB 0 : No Loopback */
/* [04]:LISTEN 0 : Normal Operation */
/* [03]:res 0 : reserved */
/* [02]:WUPM 0 : No protect. from spurious WakeUp */
/* [01]:SLPAK 0 : Sleep Mode Acknowledge (rd. only) */
/* [00]:INITAK 0->1 : Init. Mode Acknowledge (rd. only) */
/* wait for init mode acknowledge */
while(!(mscan->ctl1 & CTL1_INITAK));
return;
}
/*
* Exit MSCAN init mode
*/
void mpc5200_mscan_exit_init_mode(volatile struct mpc5200_mscan *mscan)
{
/* Control Register 0 --------------------------------------------*/
/* [07]:RXFRM 0 : Recv. Frame, Flag Bit (rd.&clear only) */
/* [06]:RXACT 0 : Recv. Active, Status Bit (rd. only) */
/* [05]:CSWAI 0 : CAN Stops in Wait Mode */
/* [04]:SYNCH 0 : Synchronized, Status Bit (rd. only) */
/* [03]:TIME 1 : Generate Timestamps */
/* [02]:WUPE 0 : WakeUp Disabled */
/* [01]:SLPRQ 0 : No Sleep Mode Request */
/* [00]:INITRQ 1->0 : Init. Mode Request */
/* select normal mode */
mscan->ctl0 &= ~(CTL0_INITRQ);
/* Control Register 1 --------------------------------------------*/
/* [07]:CANE 0 : MSCAN Module is disabled */
/* [06]:CLKSRC 1 : Clock Source -> IPB-Clock (33 MHz) */
/* [05]:LOOPB 0 : No Loopback */
/* [04]:LISTEN 0 : Normal Operation */
/* [03]:res 0 : reserved */
/* [02]:WUPM 0 : No protect. from spurious WakeUp */
/* [01]:SLPAK 0 : Sleep Mode Acknowledge (rd. only) */
/* [00]:INITAK 1->0 : Init. Mode Acknowledge (rd. only) */
/* wait for normal mode acknowledge */
while(mscan->ctl1 & CTL1_INITAK);
return;
}
/*
* MPC5x00 MSCAN wait for sync. with CAN bus
*/
void mpc5200_mscan_wait_sync(volatile struct mpc5200_mscan *mscan)
{
/* Control Register 0 --------------------------------------------*/
/* [07]:RXFRM 0 : Recv. Frame, Flag Bit (rd.&clear only) */
/* [06]:RXACT 0 : Recv. Active, Status Bit (rd. only) */
/* [05]:CSWAI 0 : CAN Stops in Wait Mode */
/* [04]:SYNCH 0->1 : Synchronized, Status Bit (rd. only) */
/* [03]:TIME 1 : Generate Timestamps */
/* [02]:WUPE 0 : WakeUp Disabled */
/* [01]:SLPRQ 0 : No Sleep Mode Request */
/* [00]:INITRQ 0 : No init. Mode Request */
/* wait for MSCAN A_/_B bus synch. */
while(!((mscan->ctl0) & CTL0_SYNCH));
return;
}
/*
* MPC5x00 MSCAN set up the bit timing
*/
void mpc5200_mscan_perform_bit_time_settings(volatile struct mpc5200_mscan *mscan)
{
uint32_t prescale_val = 0;
uint32_t tq_num;
uint32_t sync_seg,tseg1,tseg2;
if(IPB_CLOCK%(CAN_BIT_RATE * CAN_MAX_NO_OF_TQ))
prescale_val = (IPB_CLOCK/(CAN_BIT_RATE * (CAN_MAX_NO_OF_TQ*2/3))) + 1;
else
prescale_val = IPB_CLOCK/(CAN_BIT_RATE* (CAN_MAX_NO_OF_TQ*2/3));
tq_num = ((IPB_CLOCK/prescale_val)+CAN_BIT_RATE/2)/CAN_BIT_RATE;
/*
* XXX: make this table controlled according to MPC5200UM/Rev.3,Table 19-34
*/
sync_seg = 2;
tseg2 = (tq_num-sync_seg)/6;
tseg1 = tq_num - sync_seg - tseg2;
/* Bus Timing Register 0 MSCAN_A/_B ------------------------------*/
/* [07]:SJW1 1 : Synchronization jump width, Bit1 */
/* [06]:SJW0 0 : Synchronization jump width, Bit0 */
/* SJW = 2 -> 3 Tq clock cycles */
/* [05]:BRP5 0 : Baud Rate Prescaler, Bit 5 */
/* [04]:BRP4 0 : Baud Rate Prescaler, Bit 4 */
/* [03]:BRP3 0 : Baud Rate Prescaler, Bit 3 */
/* [02]:BRP2 1 : Baud Rate Prescaler, Bit 2 */
/* [01]:BRP1 0 : Baud Rate Prescaler, Bit 1 */
/* [00]:BRP0 1 : Baud Rate Prescaler, Bit 0 */
mscan->btr0 |= (BTR0_SJW(sync_seg-1) | BTR0_BRP(prescale_val - 1));
/* Bus Timing Register 1 MSCAN_A/_B ------------------------------*/
/* [07]:SAMP 0 : One Sample per bit */
/* [06]:TSEG22 0 : Time Segment 2, Bit 2 */
/* [05]:TSEG21 1 : Time Segment 2, Bit 1 */
/* [04]:TSEG20 0 : Time Segment 2, Bit 0 */
/* -> PHASE_SEG2 = 3 Tq */
/* [03]:TSEG13 0 : Time Segment 1, Bit 3 */
/* [02]:TSEG12 1 : Time Segment 1, Bit 2 */
/* [01]:TSEG11 1 : Time Segment 1, Bit 1 */
/* [00]:TSEG10 0 : Time Segment 1, Bit 0 */
mscan->btr1 &= ~(BTR1_SAMP);
mscan->btr1 |= (BTR1_TSEG_22_20(tseg2-1) | BTR1_TSEG_13_10(tseg1-1));
return;
}
/*
* MPC5x00 MSCAN perform settings in init mode
*/
void mpc5200_mscan_perform_init_mode_settings(volatile struct mpc5200_mscan *mscan)
{
mpc5200_mscan_perform_bit_time_settings(mscan);
/* Control Register 1 --------------------------------------------*/
/* [07]:CANE 0 : MSCAN Module is disabled */
/* [06]:CLKSRC 0 : Clock Source -> IPB_CLOCK (bsp.h) */
/* [05]:LOOPB 0 : No Loopback */
/* [04]:LISTEN 0 : Normal Operation */
/* [03]:res 0 : reserved */
/* [02]:WUPM 0 : No protect. from spurious WakeUp */
/* [01]:SLPAK 1->0 : Sleep Mode Acknowledge (rd. only) */
/* [00]:INITAK 0 : Init. Mode Acknowledge (rd. only) */
/* Set CLK source, disable loopback & listen-only mode */
#ifndef MSCAN_LOOPBACK
mscan->ctl1 &= ~(CTL1_LISTEN | CTL1_LOOPB | CTL1_CLKSRC);
#else
mscan->ctl1 &= ~(CTL1_LISTEN | CTL1_CLKSRC);
mscan->ctl1 |= (CTL1_LOOPB);
#endif
/* IPB clock -> IPB_CLOCK (bsp.h) */
/* bitrate -> CAN_BIT_RATE (mscan.h) */
/* Max. no of Tq -> CAN_MAX_NO_OF_TQ (mscan.h) */
/* Prescaler value -> prescale_val = ROUND_UP(IPB_CLOCK/(CAN_BIT_RATE * CAN_MAX_NO_OF_TQ)) */
/* SYNC_SEG -> 1 tq */
/* time segment 1 -> 16 tq (PROP_SEG+PHASE_SEG), CAN_MAX_NO_OF_TQ_TSEG1 = 15 (mscan.h) */
/* time segment 2 -> 8 tq (PHASE_SEG2) , CAN_MAX_NO_OF_TQ_TSEG2 = 7 (mscan.h) */
/* SJW -> 3 (fixed 0...3) , CAN_MAX_NO_OF_TQ_SJW = 2 (mscan.h) */
/* ID Acceptance Control MSCAN_A/_B ------------------------------*/
/* [07]:res. 0 : reserved */
/* [06]:res. 0 : reserved */
/* [05]:IDAM1 0 : ID acceptance control, Bit1 */
/* [04]:IDAM0 1 : ID acceptance control, Bit0 */
/* -> filter 16 bit mode */
/* [03]:res. 0 : reserved */
/* [02]:IDHIT2 0 : ID acceptance hit indication, Bit 2 */
/* [01]:IDHIT1 0 : ID acceptance hit indication, Bit 1 */
/* [00]:IDHIT0 0 : ID acceptance hit indication, Bit 0 */
mscan->idac &= ~(IDAC_IDAM1);
mscan->idac |= (IDAC_IDAM0);
/* initialize rx filter masks: only accept exact matches */
mscan->idmr0 = 0x00;
mscan->idmr1 = 0x00;
mscan->idmr2 = 0x00;
mscan->idmr3 = 0x00;
mscan->idmr4 = 0x00;
mscan->idmr5 = 0x00;
mscan->idmr6 = 0x00;
mscan->idmr7 = 0x00;
/* initialize rx filters: set to illegal values, so no matches occure */
mscan->idar0 = 0xff;
mscan->idar1 = 0xff;
mscan->idar2 = 0xff;
mscan->idar3 = 0xff;
mscan->idar4 = 0xff;
mscan->idar5 = 0xff;
mscan->idar6 = 0xff;
mscan->idar7 = 0xff;
/* Control Register 1 --------------------------------------------*/
/* [07]:CANE 0->1 : MSCAN Module is enabled */
/* [06]:CLKSRC 1 : Clock Source -> IPB_CLOCK (bsp.h) */
/* [05]:LOOPB 0 : No Loopback */
/* [04]:LISTEN 0 : Normal Operation */
/* [03]:res 0 : reserved */
/* [02]:WUPM 0 : No protect. from spurious WakeUp */
/* [01]:SLPAK 0 : Sleep Mode Acknowledge (rd. only) */
/* [00]:INITAK 0 : Init. Mode Acknowledge (rd. only) */
/* enable MSCAN A_/_B */
mscan->ctl1 |= (CTL1_CANE);
return;
}
/*
* MPC5x00 MSCAN perform settings in normal mode
*/
void mpc5200_mscan_perform_normal_mode_settings(volatile struct mpc5200_mscan *mscan)
{
/* Control Register 0 --------------------------------------------*/
/* [07]:RXFRM 0 : Recv. Frame, Flag Bit (rd.&clear only) */
/* [06]:RXACT 0 : Recv. Active, Status Bit (rd. only) */
/* [05]:CSWAI 0 : CAN Stops in Wait Mode */
/* [04]:SYNCH 0 : Synchronized, Status Bit (rd. only) */
/* [03]:TIME 1 : Generate Timestamps */
/* [02]:WUPE 0 : WakeUp Disabled */
/* [01]:SLPRQ 0 : No Sleep Mode Request */
/* [00]:INITRQ 0 : No init. Mode Request */
/* Disable wait mode, enable timestamps */
mscan->ctl0 &= ~(CTL0_CSWAI);
mscan->ctl0 |= (CTL0_TIME);
return;
}
rtems_status_code mpc5200_mscan_set_mode(rtems_device_minor_number minor, uint8_t mode)
{
struct mscan_channel_info *chan = NULL;
volatile struct mpc5200_mscan *mscan = NULL;
switch(minor)
{
case MSCAN_A:
case MSCAN_B:
chan = &chan_info[minor];
mscan = chan->regs;
break;
default:
return RTEMS_UNSATISFIED;
break;
}
if(chan->mode == mode)
return RTEMS_SUCCESSFUL;
switch(mode)
{
case MSCAN_NORMAL_MODE:
/* if not already set enter init mode */
mpc5200_mscan_enter_init_mode(mscan);
if((chan->mode) == MSCAN_INITIALIZED_MODE)
/* perform initialization which has to be done in init mode */
mpc5200_mscan_perform_init_mode_settings(mscan);
else
/* exit sleep mode */
mpc5200_mscan_exit_sleep_mode(mscan);
/* exit init mode */
mpc5200_mscan_exit_init_mode(mscan);
/* enable ints. */
mpc5200_mscan_int_enable(mscan);
/* wait for bus sync. */
mpc5200_mscan_wait_sync(mscan);
return RTEMS_SUCCESSFUL;
break;
case MSCAN_SLEEP_MODE:
/* enable ints. */
mpc5200_mscan_int_disable(mscan);
/* if not already set enter init mode */
mpc5200_mscan_enter_init_mode(mscan);
/* exit sleep mode */
mpc5200_mscan_enter_sleep_mode(mscan);
/* exit init mode */
mpc5200_mscan_exit_init_mode(mscan);
return RTEMS_SUCCESSFUL;
break;
default:
return RTEMS_UNSATISFIED;
break;
}
/* set new channel mode */
chan->mode = mode;
return RTEMS_SUCCESSFUL;
}
/*
* initialization of channel info.
*/
rtems_status_code mscan_channel_initialize(rtems_device_major_number major, rtems_device_minor_number minor)
{
rtems_status_code status;
struct mscan_channel_info *chan = &chan_info[minor];
/* set registers according to MSCAN channel information */
switch(minor)
{
case MSCAN_A:
chan->rx_qname = rtems_build_name ('C', 'N', 'A', 'Q');
/* register RTEMS device names for MSCAN A */
if((status = rtems_io_register_name (MSCAN_A_DEV_NAME, major, MSCAN_A)) != RTEMS_SUCCESSFUL)
return status;
break;
case MSCAN_B:
chan->rx_qname = rtems_build_name ('C', 'N', 'B', 'Q');
/* register RTEMS device names for MSCAN B */
if((status = rtems_io_register_name (MSCAN_B_DEV_NAME, major, MSCAN_B)) != RTEMS_SUCCESSFUL)
return status;
break;
default:
return RTEMS_UNSATISFIED;
break;
}
/* create RTEMS rx message queue for MSCAN A */
if((status = rtems_message_queue_create(chan->rx_qname,
(uint32_t) NO_OF_MSCAN_A_RX_BUFF,
(uint32_t) MSCAN_MESSAGE_SIZE(sizeof(struct can_message)),
(rtems_attribute) RTEMS_LOCAL | RTEMS_FIFO,
(rtems_id *)&(chan->rx_qid)))
!= RTEMS_SUCCESSFUL)
{
return status;
}
/* Set up interrupts MSCAN A */
if(!BSP_install_rtems_irq_handler(&(mpc5200_mscan_irq_data[minor])))
rtems_panic("Can't attach MPC5x00 MSCAN interrupt handler %d\n", minor);
/* basic setup for channel info. struct. */
chan->regs = (struct mpc5200_mscan *)&(mpc5200.mscan[minor]);
chan->int_rx_err = 0;
chan->id_extended = FALSE;
chan->mode = MSCAN_INITIALIZED_MODE;
return status;
}
/*
* MPC5x00 MSCAN device initialization
*/
rtems_device_driver mscan_initialize(rtems_device_major_number major,
rtems_device_minor_number minor,
void *arg
)
{
rtems_status_code status;
/* Initialization requested via RTEMS */
if((status = mscan_channel_initialize(major,MSCAN_A)) != RTEMS_SUCCESSFUL)
rtems_fatal_error_occurred(status);
if((status = mscan_channel_initialize(major,MSCAN_B)) != RTEMS_SUCCESSFUL)
rtems_fatal_error_occurred(status);
if((status = mpc5200_mscan_set_mode(MSCAN_A, MSCAN_NORMAL_MODE)) != RTEMS_SUCCESSFUL)
rtems_fatal_error_occurred(status);
if((status = mpc5200_mscan_set_mode(MSCAN_B, MSCAN_NORMAL_MODE)) != RTEMS_SUCCESSFUL)
rtems_fatal_error_occurred(status);
return status;
}
/*
* MPC5x00 MSCAN device open
*/
rtems_device_driver mscan_open( rtems_device_major_number major,
rtems_device_minor_number minor,
void * arg
)
{
rtems_status_code status;
struct mscan_channel_info *chan = NULL;
switch(minor)
{
case MSCAN_A:
case MSCAN_B:
chan = &chan_info[minor];
break;
default:
return RTEMS_UNSATISFIED;
break;
}
/* if not already set enter init mode */
status = mpc5200_mscan_set_mode(minor, MSCAN_NORMAL_MODE);
return status;
}
/*
* MPC5x00 MSCAN device close
*/
rtems_device_driver mscan_close( rtems_device_major_number major,
rtems_device_minor_number minor,
void * arg
)
{
rtems_status_code status;
struct mscan_channel_info *chan = NULL;
switch(minor)
{
case MSCAN_A:
case MSCAN_B:
chan = &chan_info[minor];
break;
default:
return RTEMS_UNSATISFIED;
break;
}
/* enter deep sleep mode */
status = mpc5200_mscan_set_mode(minor, MSCAN_SLEEP_MODE);
return status;
}
/*
* MPC5x00 MSCAN device read
*/
rtems_device_driver mscan_read( rtems_device_major_number major,
rtems_device_minor_number minor,
void * arg
)
{
rtems_status_code status;
uint32_t message_size = 0;
rtems_libio_rw_args_t *parms = (rtems_libio_rw_args_t *)arg;
struct mscan_rx_parms *rx_parms = (struct mscan_rx_parms *)(parms->buffer);
struct can_message *rx_mess = (struct can_message *)(rx_parms->rx_mess);
struct mscan_channel_info *chan = NULL;
switch(minor)
{
case MSCAN_A:
case MSCAN_B:
chan = &chan_info[minor];
break;
default:
return RTEMS_UNSATISFIED;
break;
}
if((status = rtems_message_queue_receive(chan->rx_qid,
(void *)(rx_mess),
(uint32_t *)&message_size,
(uint32_t)(rx_parms->rx_flags),
(rtems_interval)(rx_parms->rx_timeout)))
!= RTEMS_SUCCESSFUL)
{
parms->bytes_moved = 0;
}
else
{
parms->bytes_moved = sizeof(struct can_message);
}
return status;
}
/*
* MPC5x00 MSCAN device write
*/
rtems_device_driver mscan_write( rtems_device_major_number major,
rtems_device_minor_number minor,
void * arg
)
{
rtems_libio_rw_args_t *parms = (rtems_libio_rw_args_t *)arg;
struct mscan_tx_parms *tx_parms = (struct mscan_tx_parms *)(parms->buffer);
struct can_message *tx_mess = (struct can_message *)(tx_parms->tx_mess);
struct mscan_channel_info *chan = NULL;
mscan_handle *mscan_hdl = NULL;
volatile struct mpc5200_mscan *mscan = NULL;
switch(minor)
{
case MSCAN_A:
case MSCAN_B:
chan = &chan_info[minor];
mscan_hdl = mpc5200_mscan_irq_data[minor].handle;
mscan = chan->regs;
break;
default:
return RTEMS_UNSATISFIED;
break;
}
/* select one free tx buffer (TOUCAN not registered) */
if((mscan_hdl->toucan_callback) == NULL)
{
if(mscan->tflg & MSCAN_TX_BUFF2)
mscan->bsel = MSCAN_TX_BUFF2;
if(mscan->tflg & MSCAN_TX_BUFF1)
mscan->bsel = MSCAN_TX_BUFF1;
if(mscan->tflg & MSCAN_TX_BUFF0)
mscan->bsel = MSCAN_TX_BUFF0;
}
else
{
/* select a specific, preconfigured tx buffer (TOUCAN registered) */
switch(tx_parms->tx_id)
{
case 0:
if(mscan->tflg & MSCAN_TX_BUFF0)
mscan->bsel = MSCAN_TX_BUFF0;
break;
case 1:
if(mscan->tflg & MSCAN_TX_BUFF1)
mscan->bsel = MSCAN_TX_BUFF1;
break;
case 2:
if(mscan->tflg & MSCAN_TX_BUFF2)
mscan->bsel = MSCAN_TX_BUFF2;
break;
default:
break;
}
}
/* if no tx buffer is available, teminate the write request */
if(!(mscan->bsel))
{
parms->bytes_moved = 0;
return RTEMS_UNSATISFIED;
}
/* prepare tx id and dlc (TOUCAN not initialized) */
if((mscan_hdl->toucan_callback) == NULL)
{
/* check for tx length */
if((tx_mess->mess_len) & 0x000F)
{
/* set tx id */
mscan->txidr0 = SET_IDR0(tx_mess->mess_id);
mscan->txidr1 = SET_IDR1(tx_mess->mess_id);
mscan->txidr2 = 0;
mscan->txidr3 = 0;
/* insert dlc into mscan register */
mscan->txdlr = (uint8_t)((tx_mess->mess_len) & 0x000F);
}
else
{
parms->bytes_moved = 0;
return RTEMS_UNSATISFIED;
}
}
/* copy tx data to MSCAN registers */
switch(mscan->txdlr)
{
case 8:
mscan->txdsr7 = tx_mess->mess_data[7];
case 7:
mscan->txdsr6 = tx_mess->mess_data[6];
case 6:
mscan->txdsr5 = tx_mess->mess_data[5];
case 5:
mscan->txdsr4 = tx_mess->mess_data[4];
case 4:
mscan->txdsr3 = tx_mess->mess_data[3];
case 3:
mscan->txdsr2 = tx_mess->mess_data[2];
case 2:
mscan->txdsr1 = tx_mess->mess_data[1];
case 1:
mscan->txdsr0 = tx_mess->mess_data[0];
break;
default:
break;
}
/* enable message buffer specific interrupt */
mscan->tier |= mscan->bsel;
/* start transfer */
mscan->tflg = mscan->bsel;
return RTEMS_SUCCESSFUL;
}
/*
* MPC5x00 MSCAN device control
*/
rtems_device_driver mscan_control( rtems_device_major_number major,
rtems_device_minor_number minor,
void * arg
)
{
uint16_t tx_id;
rtems_libio_ioctl_args_t *parms = (rtems_libio_ioctl_args_t *)arg;
struct mscan_ctrl_parms *ctrl_parms = (struct mscan_ctrl_parms *)(parms->buffer);
struct mscan_channel_info *chan = NULL;
mscan_handle *mscan_hdl = NULL;
volatile struct mpc5200_mscan *mscan = NULL;
switch(minor)
{
case MSCAN_A:
case MSCAN_B:
chan = &chan_info[minor];
mscan_hdl = mpc5200_mscan_irq_data[minor].handle;
mscan = chan->regs;
break;
default:
return RTEMS_UNSATISFIED;
break;
}
switch(parms->command)
{
/* TOUCAN callback initialization for MSCAN */
case TOUCAN_MSCAN_INIT:
mscan_hdl->toucan_callback = ctrl_parms->toucan_cb_fnc;
break;
/* set rx buffer ID */
case MSCAN_SET_RX_ID:
/* enter init mode */
mpc5200_mscan_enter_init_mode(mscan);
switch(ctrl_parms->ctrl_reg_no)
{
case RX_BUFFER_0:
mscan->idar0 = SET_IDR0(ctrl_parms->ctrl_id);
mscan->idar1 = SET_IDR1(ctrl_parms->ctrl_id);
break;
case RX_BUFFER_1:
mscan->idar2 = SET_IDR2(ctrl_parms->ctrl_id);
mscan->idar3 = SET_IDR3(ctrl_parms->ctrl_id);
break;
case RX_BUFFER_2:
mscan->idar4 = SET_IDR4(ctrl_parms->ctrl_id);
mscan->idar5 = SET_IDR5(ctrl_parms->ctrl_id);
break;
case RX_BUFFER_3:
mscan->idar6 = SET_IDR6(ctrl_parms->ctrl_id);
mscan->idar7 = SET_IDR7(ctrl_parms->ctrl_id);
break;
default:
break;
}
/* exit init mode and perform further initialization which is required in the normal mode */
mpc5200_mscan_exit_init_mode(mscan);
/* enable ints. */
mpc5200_mscan_int_enable(mscan);
/* wait for bus sync. */
mpc5200_mscan_wait_sync(mscan);
return RTEMS_SUCCESSFUL;
break;
/* get rx buffer ID */
case MSCAN_GET_RX_ID:
switch(ctrl_parms->ctrl_reg_no)
{
case RX_BUFFER_0:
ctrl_parms->ctrl_id = GET_IDR0(mscan->idar0) | GET_IDR1(mscan->idar1);
break;
case RX_BUFFER_1:
ctrl_parms->ctrl_id = GET_IDR2(mscan->idar2) | GET_IDR3(mscan->idar3);
break;
case RX_BUFFER_2:
ctrl_parms->ctrl_id = GET_IDR4(mscan->idar4) | GET_IDR5(mscan->idar5);
break;
case RX_BUFFER_3:
ctrl_parms->ctrl_id = GET_IDR6(mscan->idar6) | GET_IDR7(mscan->idar7);
break;
default:
break;
}
break;
/* set rx buffer ID mask */
case MSCAN_SET_RX_ID_MASK:
/* enter init mode */
mpc5200_mscan_enter_init_mode(mscan);
switch(ctrl_parms->ctrl_reg_no)
{
case RX_BUFFER_0:
mscan->idmr0 = SET_IDR0(ctrl_parms->ctrl_id_mask);
mscan->idmr1 = SET_IDR1(ctrl_parms->ctrl_id_mask);
break;
case RX_BUFFER_1:
mscan->idmr2 = SET_IDR2(ctrl_parms->ctrl_id_mask);
mscan->idmr3 = SET_IDR3(ctrl_parms->ctrl_id_mask);
break;
case RX_BUFFER_2:
mscan->idmr4 = SET_IDR4(ctrl_parms->ctrl_id_mask);
mscan->idmr5 = SET_IDR5(ctrl_parms->ctrl_id_mask);
break;
case RX_BUFFER_3:
mscan->idmr6 = SET_IDR6(ctrl_parms->ctrl_id_mask);
mscan->idmr7 = SET_IDR7(ctrl_parms->ctrl_id_mask);
break;
default:
break;
}
/* exit init mode and perform further initialization which is required in the normal mode */
mpc5200_mscan_exit_init_mode(mscan);
/* enable ints. */
mpc5200_mscan_int_enable(mscan);
/* wait for bus sync. */
mpc5200_mscan_wait_sync(mscan);
break;
/* get rx buffer ID mask */
case MSCAN_GET_RX_ID_MASK:
switch(ctrl_parms->ctrl_reg_no)
{
case RX_BUFFER_0:
ctrl_parms->ctrl_id_mask = GET_IDR0(mscan->idmr0) | GET_IDR1(mscan->idmr1);
break;
case RX_BUFFER_1:
ctrl_parms->ctrl_id_mask = GET_IDR2(mscan->idmr2) | GET_IDR3(mscan->idmr3);
break;
case RX_BUFFER_2:
ctrl_parms->ctrl_id_mask = GET_IDR4(mscan->idmr4) | GET_IDR5(mscan->idmr5);
break;
case RX_BUFFER_3:
ctrl_parms->ctrl_id_mask = GET_IDR6(mscan->idmr6) | GET_IDR7(mscan->idmr7);
break;
default:
break;
}
/* set tx buffer ID */
case MSCAN_SET_TX_ID:
/* check for availability of tx buffer */
if(!((mscan->tflg) & (uint8_t)(ctrl_parms->ctrl_reg_no)))
{
/* do abort tx buf. request */
mscan->tarq = (uint8_t)(ctrl_parms->ctrl_reg_no);
/* wait for abort tx buf. ack. */
while((mscan->taak) & (uint8_t)(ctrl_parms->ctrl_reg_no));
}
/* select tx buf. */
mscan->bsel = (uint8_t)(ctrl_parms->ctrl_reg_no);
/* set the tx id of selected buf. */
tx_id = ctrl_parms->ctrl_id;
mscan->txidr0 = SET_IDR0(tx_id);
mscan->txidr1 = SET_IDR1(tx_id);
mscan->txidr2 = 0;
mscan->txidr3 = 0;
break;
/* get tx buffer ID */
case MSCAN_GET_TX_ID:
/* select tx buf. */
mscan->bsel = (uint8_t)(ctrl_parms->ctrl_reg_no);
/* get tx id. of selected buf. */
ctrl_parms->ctrl_id = GET_IDR0(mscan->txidr0) | GET_IDR1(mscan->txidr1);
break;
default:
break;
}
return RTEMS_SUCCESSFUL;
}