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diff --git a/bsps/arm/atsam/include/libchip/include/mcan.h b/bsps/arm/atsam/include/libchip/include/mcan.h
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+/* ---------------------------------------------------------------------------- */
+/* Atmel Microcontroller Software Support */
+/* SAM Software Package License */
+/* ---------------------------------------------------------------------------- */
+/* Copyright (c) 2015, Atmel Corporation */
+/* */
+/* All rights reserved. */
+/* */
+/* Redistribution and use in source and binary forms, with or without */
+/* modification, are permitted provided that the following condition is met: */
+/* */
+/* - Redistributions of source code must retain the above copyright notice, */
+/* this list of conditions and the disclaimer below. */
+/* */
+/* Atmel's name may not be used to endorse or promote products derived from */
+/* this software without specific prior written permission. */
+/* */
+/* DISCLAIMER: THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR */
+/* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT ARE */
+/* DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT, INDIRECT, */
+/* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT */
+/* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, */
+/* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF */
+/* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING */
+/* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, */
+/* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */
+/* ---------------------------------------------------------------------------- */
+
+/**
+ * \file
+ *
+ * \section Purpose
+ *
+ * Interface for configuring and using Timer Counter (TC) peripherals.
+ *
+ * \section Usage
+ * -# Optionally, use TC_FindMckDivisor() to let the program find the best
+ * TCCLKS field value automatically.
+ * -# Configure a Timer Counter in the desired mode using TC_Configure().
+ * -# Start or stop the timer clock using TC_Start() and TC_Stop().
+ */
+
+#ifndef _MCAN_
+#define _MCAN_
+
+/*------------------------------------------------------------------------------
+ * Headers
+ *------------------------------------------------------------------------------*/
+
+#include "chip.h"
+
+#include <stdint.h>
+
+/*------------------------------------------------------------------------------
+ * Global functions
+ *------------------------------------------------------------------------------*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef enum {
+ CAN_STD_ID = 0,
+ CAN_EXT_ID = 1
+} MCan_IdType;
+
+typedef enum {
+ CAN_DLC_0 = 0,
+ CAN_DLC_1 = 1,
+ CAN_DLC_2 = 2,
+ CAN_DLC_3 = 3,
+ CAN_DLC_4 = 4,
+ CAN_DLC_5 = 5,
+ CAN_DLC_6 = 6,
+ CAN_DLC_7 = 7,
+ CAN_DLC_8 = 8,
+ CAN_DLC_12 = 9,
+ CAN_DLC_16 = 10,
+ CAN_DLC_20 = 11,
+ CAN_DLC_24 = 12,
+ CAN_DLC_32 = 13,
+ CAN_DLC_48 = 14,
+ CAN_DLC_64 = 15
+} MCan_DlcType;
+
+typedef enum {
+ CAN_FIFO_0 = 0,
+ CAN_FIFO_1 = 1
+} MCan_FifoType;
+
+typedef enum {
+ CAN_INTR_LINE_0 = 0,
+ CAN_INTR_LINE_1 = 1
+} MCan_IntrLineType;
+
+typedef struct MailboxInfoTag {
+ uint32_t id;
+ uint32_t length;
+ uint32_t timestamp;
+} MailboxInfoType;
+
+
+typedef struct MailBox8Tag {
+ MailboxInfoType info;
+ uint8_t data[8];
+} Mailbox8Type;
+
+typedef struct MailBox12Tag {
+ MailboxInfoType info;
+ uint8_t data[12];
+} Mailbox12Type;
+
+typedef struct MailBox16Tag {
+ MailboxInfoType info;
+ uint8_t data[16];
+} Mailbox16Type;
+
+typedef struct MailBox20Tag {
+ MailboxInfoType info;
+ uint8_t data[20];
+} Mailbox20Type;
+
+typedef struct MailBox24Tag {
+ MailboxInfoType info;
+ uint8_t data[24];
+} Mailbox24Type;
+
+typedef struct MailBox32Tag {
+ MailboxInfoType info;
+ uint8_t data[32];
+} Mailbox32ype;
+
+typedef struct MailBox48Tag {
+ MailboxInfoType info;
+ uint8_t data[48];
+} Mailbox48Type;
+
+typedef struct MailBox64Tag {
+ MailboxInfoType info;
+ uint8_t data[64];
+} Mailbox64Type;
+
+
+
+typedef struct MCan_MsgRamPntrsTag {
+ uint32_t *pStdFilts;
+ uint32_t *pExtFilts;
+ uint32_t *pRxFifo0;
+ uint32_t *pRxFifo1;
+ uint32_t *pRxDedBuf;
+ uint32_t *pTxEvtFifo;
+ uint32_t *pTxDedBuf;
+ uint32_t *pTxFifoQ;
+} MCan_MsgRamPntrs;
+
+typedef struct MCan_ConfigTag {
+ Mcan *pMCan;
+ uint32_t bitTiming;
+ uint32_t fastBitTiming;
+ uint32_t nmbrStdFilts;
+ uint32_t nmbrExtFilts;
+ uint32_t nmbrFifo0Elmts;
+ uint32_t nmbrFifo1Elmts;
+ uint32_t nmbrRxDedBufElmts;
+ uint32_t nmbrTxEvtFifoElmts;
+ uint32_t nmbrTxDedBufElmts;
+ uint32_t nmbrTxFifoQElmts;
+ uint32_t rxFifo0ElmtSize;
+ uint32_t rxFifo1ElmtSize;
+ uint32_t rxBufElmtSize;
+ // Element sizes and data sizes (encoded element size)
+ uint32_t txBufElmtSize;
+ // Element size and data size (encoded element size)
+ MCan_MsgRamPntrs msgRam;
+} MCan_ConfigType;
+
+extern const MCan_ConfigType mcan0Config;
+extern const MCan_ConfigType mcan1Config;
+
+__STATIC_INLINE uint32_t MCAN_IsTxComplete(
+ const MCan_ConfigType *mcanConfig)
+{
+ Mcan *mcan = mcanConfig->pMCan;
+ return (mcan->MCAN_IR & MCAN_IR_TC);
+}
+
+__STATIC_INLINE void MCAN_ClearTxComplete(
+ const MCan_ConfigType *mcanConfig)
+{
+ Mcan *mcan = mcanConfig->pMCan;
+ mcan->MCAN_IR = MCAN_IR_TC;
+}
+
+__STATIC_INLINE uint32_t MCAN_IsMessageStoredToRxDedBuffer(
+ const MCan_ConfigType *mcanConfig)
+{
+ Mcan *mcan = mcanConfig->pMCan;
+
+ return (mcan->MCAN_IR & MCAN_IR_DRX);
+}
+
+__STATIC_INLINE void MCAN_ClearMessageStoredToRxBuffer(
+ const MCan_ConfigType *mcanConfig)
+{
+ Mcan *mcan = mcanConfig->pMCan;
+ mcan->MCAN_IR = MCAN_IR_DRX;
+}
+
+__STATIC_INLINE uint32_t MCAN_IsMessageStoredToRxFifo0(
+ const MCan_ConfigType *mcanConfig)
+{
+ Mcan *mcan = mcanConfig->pMCan;
+ return (mcan->MCAN_IR & MCAN_IR_RF0N);
+}
+
+__STATIC_INLINE void MCAN_ClearMessageStoredToRxFifo0(
+ const MCan_ConfigType *mcanConfig)
+{
+ Mcan *mcan = mcanConfig->pMCan;
+ mcan->MCAN_IR = MCAN_IR_RF0N;
+}
+
+__STATIC_INLINE uint32_t MCAN_IsMessageStoredToRxFifo1(
+ const MCan_ConfigType *mcanConfig)
+{
+ Mcan *mcan = mcanConfig->pMCan;
+ return (mcan->MCAN_IR & MCAN_IR_RF1N);
+}
+
+__STATIC_INLINE void MCAN_ClearMessageStoredToRxFifo1(
+ const MCan_ConfigType *mcanConfig)
+{
+ Mcan *mcan = mcanConfig->pMCan;
+ mcan->MCAN_IR = MCAN_IR_RF1N;
+}
+
+void MCAN_Init(
+ const MCan_ConfigType *mcanConfig);
+
+void MCAN_InitFdEnable(
+ const MCan_ConfigType *mcanConfig);
+
+void MCAN_InitFdBitRateSwitchEnable(
+ const MCan_ConfigType *mcanConfig);
+
+void MCAN_InitTxQueue(
+ const MCan_ConfigType *mcanConfig);
+
+void MCAN_InitLoopback(
+ const MCan_ConfigType *mcanConfig);
+
+void MCAN_Enable(
+ const MCan_ConfigType *mcanConfig);
+
+void MCAN_RequestIso11898_1(
+ const MCan_ConfigType *mcanConfig);
+
+void MCAN_RequestFd(
+ const MCan_ConfigType *mcanConfig);
+
+void MCAN_RequestFdBitRateSwitch(
+ const MCan_ConfigType *mcanConfig);
+
+void MCAN_LoopbackOn(
+ const MCan_ConfigType *mcanConfig);
+
+void MCAN_LoopbackOff(
+ const MCan_ConfigType *mcanConfig);
+
+void MCAN_IEnableMessageStoredToRxDedBuffer(
+ const MCan_ConfigType *mcanConfig,
+ MCan_IntrLineType line);
+
+uint8_t *MCAN_ConfigTxDedBuffer(
+ const MCan_ConfigType *mcanConfig,
+ uint8_t buffer,
+ uint32_t id,
+ MCan_IdType idType,
+ MCan_DlcType dlc);
+
+void MCAN_SendTxDedBuffer(
+ const MCan_ConfigType *mcanConfig,
+ uint8_t buffer);
+
+uint32_t MCAN_AddToTxFifoQ(
+ const MCan_ConfigType *mcanConfig,
+ uint32_t id, MCan_IdType idType,
+ MCan_DlcType dlc, uint8_t *data);
+
+uint8_t MCAN_IsBufferTxd(
+ const MCan_ConfigType *mcanConfig,
+ uint8_t buffer);
+
+void MCAN_ConfigRxBufferFilter(
+ const MCan_ConfigType *mcanConfig,
+ uint32_t buffer,
+ uint32_t filter,
+ uint32_t id,
+ MCan_IdType idType);
+
+void MCAN_ConfigRxClassicFilter(
+ const MCan_ConfigType *mcanConfig,
+ MCan_FifoType fifo,
+ uint8_t filter,
+ uint32_t id,
+ MCan_IdType idType,
+ uint32_t mask);
+
+uint8_t MCAN_IsNewDataInRxDedBuffer(
+ const MCan_ConfigType *mcanConfig,
+ uint8_t buffer);
+
+void MCAN_GetRxDedBuffer(
+ const MCan_ConfigType *mcanConfig,
+ uint8_t buffer,
+ Mailbox64Type *pRxMailbox);
+
+uint32_t MCAN_GetRxFifoBuffer(
+ const MCan_ConfigType *mcanConfig,
+ MCan_FifoType fifo,
+ Mailbox64Type *pRxMailbox);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* #ifndef _MCAN_ */
+
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