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-rwxr-xr-xc/src/lib/libbsp/arm/lpc176x/can/can.c543
1 files changed, 0 insertions, 543 deletions
diff --git a/c/src/lib/libbsp/arm/lpc176x/can/can.c b/c/src/lib/libbsp/arm/lpc176x/can/can.c
deleted file mode 100755
index e5ffc29b7a..0000000000
--- a/c/src/lib/libbsp/arm/lpc176x/can/can.c
+++ /dev/null
@@ -1,543 +0,0 @@
-/**
- * @file can.c
- *
- * @ingroup lpc176x
- *
- * @brief CAN controller for the mbed lpc1768 board.
- */
-
-/*
- * Copyright (c) 2014 Taller Technologies.
- *
- * @author Diaz Marcos (marcos.diaz@tallertechnologies.com)
- * @author Daniel Chicco (daniel.chicco@tallertechnologies.com)
- *
- * The license and distribution terms for this file may be
- * found in the file LICENSE in this distribution or at
- * http://www.rtems.org/license/LICENSE.
- */
-
-#include <rtems/status-checks.h>
-#include <bsp/irq.h>
-#include <bsp/can.h>
-#include <bsp/can-defs.h>
-#include <bsp/mbed-pinmap.h>
-#include <string.h>
-
-/**
- * @brief The standard isr to be installed for all the can devices.
- *
- * @param arg unused.
- */
-static void can_isr( void *arg );
-
-/**
- * @brief Vector of isr for the can_driver .
- */
-lpc176x_can_isr_vector isr_vector;
-
-/**
- * @brief Represents all the can devices, and useful things for initialization.
- */
-static const can_driver_entry can_driver_table[ CAN_DEVICES_NUMBER ] =
-{
- {
- .device = (can_device *) CAN1_BASE_ADDR,
- .module = LPC176X_MODULE_CAN_0,
- .pconp_pin = LPC176X_SCB_PCONP_CAN_1,
- .pins = { DIP9, DIP10 },
- .pinfunction = LPC176X_PIN_FUNCTION_01
- },
- {
- .device = (can_device *) CAN2_BASE_ADDR,
- .module = LPC176X_MODULE_CAN_1,
- .pconp_pin = LPC176X_SCB_PCONP_CAN_2,
- .pins = { DIP30, DIP29 },
- .pinfunction = LPC176X_PIN_FUNCTION_10
- }
-};
-
-/**
- * @brief The CAN acceptance filter.
- */
-can_acceptance_filter *const acceptance_filter_device =
- (can_acceptance_filter *) CAN_ACCEPT_BASE_ADDR;
-
-/**
- * @brief Sets RX and TX pins for the passed can device number.
- *
- * @param cannumber CAN controller to be used.
- */
-static inline void setpins( const lpc176x_can_number cannumber )
-{
- const can_driver_entry *const can_driver = &can_driver_table[ cannumber ];
-
- lpc176x_pin_select( can_driver->pins[ CAN_TX_PIN ],
- can_driver->pinfunction );
- lpc176x_pin_select( can_driver->pins[ CAN_RX_PIN ],
- can_driver->pinfunction );
-}
-
-rtems_status_code can_close( const lpc176x_can_number minor )
-{
- rtems_status_code sc = RTEMS_INVALID_NUMBER;
-
- if ( CAN_DRIVER_IS_MINOR_VALID( minor ) ) {
- sc = RTEMS_SUCCESSFUL;
- const can_driver_entry *const can_driver = &can_driver_table[ minor ];
- lpc176x_module_disable( can_driver->module );
- }
-
- /*else wrong parameters. return RTEMS_INVALID_NUMBER*/
-
- return sc;
-}
-
-/**
- * @brief Enables CAN device.
- *
- * @param obj The device to be enabled.
- */
-static inline void can_enable( const can_driver_entry *const obj )
-{
- if ( obj->device->MOD & CAN_MOD_RM ) {
- obj->device->MOD &= ~( CAN_MOD_RM );
- }
-}
-
-/**
- * @brief Disables CAN device to set parameters, and returns the previous value
- * of the MOD register.
- *
- * @param obj The device to disable.
- * @return The previous status of MOD register.
- */
-static inline uint32_t can_disable( const can_driver_entry *const obj )
-{
- const uint32_t sm = obj->device->MOD;
-
- obj->device->MOD |= CAN_MOD_RM;
-
- return sm;
-}
-
-/**
- * @brief Resets the error count.
- *
- * @param obj which device reset.
- */
-static inline void can_reset( const can_driver_entry *const obj )
-{
- can_disable( obj );
- obj->device->GSR = 0; /* Reset error counter when CANxMOD is in reset*/
-}
-
-/**
- * @brief This table has the sampling points as close to 75% as possible.
- * The first value is TSEG1, the second is TSEG2.
- */
-static const unsigned int timing_pts[ MAX_TSEG1_TSEG2_BITS +
- 1 ][ CAN_NUMBER_OF_TSEG ] = {
- { 0x0, 0x0 }, /* 2, 50%*/
- { 0x1, 0x0 }, /* 3, 67%*/
- { 0x2, 0x0 }, /* 4, 75%*/
- { 0x3, 0x0 }, /* 5, 80%*/
- { 0x3, 0x1 }, /* 6, 67%*/
- { 0x4, 0x1 }, /* 7, 71%*/
- { 0x5, 0x1 }, /* 8, 75%*/
- { 0x6, 0x1 }, /* 9, 78%*/
- { 0x6, 0x2 }, /* 10, 70%*/
- { 0x7, 0x2 }, /* 11, 73%*/
- { 0x8, 0x2 }, /* 12, 75%*/
- { 0x9, 0x2 }, /* 13, 77%*/
- { 0x9, 0x3 }, /* 14, 71%*/
- { 0xA, 0x3 }, /* 15, 73%*/
- { 0xB, 0x3 }, /* 16, 75%*/
- { 0xC, 0x3 }, /* 17, 76%*/
- { 0xD, 0x3 }, /* 18, 78%*/
- { 0xD, 0x4 }, /* 19, 74%*/
- { 0xE, 0x4 }, /* 20, 75%*/
- { 0xF, 0x4 }, /* 21, 76%*/
- { 0xF, 0x5 }, /* 22, 73%*/
- { 0xF, 0x6 }, /* 23, 70%*/
- { 0xF, 0x7 }, /* 24, 67%*/
-};
-
-/**
- * @brief Checks if divisor is a divisor of value.
- *
- * @param value The number to be divided.
- * @param divisor The divisor to check.
- *
- * @return true if "number" is divided by "divisor"; false otherwise.
- */
-static inline bool is_divisor(
- const uint32_t value,
- const uint16_t divisor
-)
-{
- return ( ( value % divisor ) == 0 );
-}
-
-/**
- * @brief Gets the size of the two tseg values added according to the given
- * bitwidth and brp (The CAN prescaler).
- *
- * @param bitwidth The total bitwidth of a CAN bit (in pclk clocks).
- * @param brp The CAN clock prescaler.
- *
- * @return The value of tseg1 + tseg2 of the CAN bit. It is useful
- * to serve for index for timing_pts array).
- */
-static inline uint32_t get_tseg_bit_size(
- const uint32_t bitwidth,
- const uint16_t brp
-)
-{
- return ( ( bitwidth / ( brp + CAN_BRP_EXTRA_BIT ) ) - CAN_TSEG_EXTRA_BITS );
-}
-
-/**
- * @brief Gets the brp and tsegbitsize in order to achieve the desired bitwidth.
- * @details The following must be fullfilled:
- *(brp + CAN_BRP_EXTRA_BIT) * (tsegbitsize + CAN_TSEG_EXTRA_BITS) == bitwidth
- *
- * @param bitwidth The bitwidth that we need to achieve.
- * @param brp Here it returns the calculated brp value.
- * @param tsegbitsize Here it returns the calculated tseg bit size value.
- * @return true if brp and tsegbitsize have been calculated.
- */
-static inline bool get_brp_and_bitsize(
- const uint32_t bitwidth,
- uint16_t *const brp,
- uint32_t *const tsegbitsize
-)
-{
- bool hit = false;
-
- while ( ( !hit ) && ( *brp < bitwidth / MIN_NUMBER_OF_CAN_BITS ) ) {
- if ( ( is_divisor( bitwidth, *brp + CAN_BRP_EXTRA_BIT ) )
- && ( get_tseg_bit_size( bitwidth, *brp ) < MAX_TSEG1_TSEG2_BITS ) ) {
- hit = true;
- *tsegbitsize = get_tseg_bit_size( bitwidth, *brp );
- } else { /*Correct values not found, keep looking*/
- ( *brp )++;
- }
- }
-
- return hit;
-}
-
-/**
- * @brief Constructs the btr register with the passed arguments.
- *
- * @param tsegbitsize The size tseg bits to set.
- * @param psjw The sjw to set.
- * @param brp The prescaler value to set.
- * @return The constructed btr register.
- */
-static inline uint32_t get_btr(
- const uint32_t tsegbitsize,
- const unsigned char psjw,
- const uint32_t brp
-)
-{
- const uint32_t tseg2_value_masked =
- ( ( timing_pts[ tsegbitsize ][ CAN_TSEG2 ] << CAN_BTR_TSEG2_SHIFT ) &
- CAN_BTR_TSEG2_MASK );
- const uint32_t tseg1_value_masked =
- ( ( timing_pts[ tsegbitsize ][ CAN_TSEG1 ] <<
- CAN_BTR_TSEG1_SHIFT ) & CAN_BTR_TSEG1_MASK );
- const uint32_t psjw_value_masked =
- ( ( psjw << CAN_BTR_SJW_SHIFT ) & CAN_BTR_SJW_MASK );
- const uint32_t brp_value_masked =
- ( ( brp << CAN_BTR_BRP_SHIFT ) & CAN_BTR_BRP_MASK );
-
- return tseg1_value_masked | tseg2_value_masked |
- psjw_value_masked | brp_value_masked;
-}
-
-/**
- * @brief Calculates and returns a bit timing register (btr) for the desired
- * canclk frequency using the passed psjw, system clock and peripheral clock.
- *
- * @param systemclk The clock of the system (in Hz).
- * @param pclkdiv The peripheral clock divisor for the can device.
- * @param canclk The desired frequency for CAN (in Hz).
- * @param psjw The desired psjw.
- * @return The btr register value if found, WRONG_BTR_VALUE otherwise.
- */
-static inline unsigned int can_speed(
- const unsigned int systemclk,
- const unsigned int pclkdiv,
- const unsigned int canclk,
- const unsigned char psjw
-)
-{
- uint32_t btr = WRONG_BTR_VALUE;
- const uint32_t bitwidth = systemclk / ( pclkdiv * canclk );
-
- /* This is for the brp (prescaler) to start searching a reachable multiple.*/
- uint16_t brp = bitwidth / MAX_NUMBER_OF_CAN_BITS;
- uint32_t tsegbitsize;
-
- if ( get_brp_and_bitsize( bitwidth, &brp, &tsegbitsize ) ) {
- btr = get_btr( tsegbitsize, psjw, brp );
- }
-
- return btr;
-}
-
-/**
- * @brief Configures the desired CAN device with the desired frequency.
- *
- * @param obj The can device to configure.
- * @param f The desired frequency.
- *
- * @return RTEMS_SUCCESSFUL if could be set, RTEMS_INVALID_NUMBER otherwise.
- */
-static rtems_status_code can_frequency(
- const can_driver_entry *const obj,
- const can_freq freq
-)
-{
- rtems_status_code sc = RTEMS_INVALID_NUMBER;
- const uint32_t btr = can_speed( LPC176X_CCLK, LPC176X_PCLKDIV, freq, 1 );
-
- if ( btr != WRONG_BTR_VALUE ) {
- sc = RTEMS_SUCCESSFUL;
- uint32_t modmask = can_disable( obj );
- obj->device->BTR = btr;
- obj->device->MOD = modmask;
- } /*else couldnt found a good timing for the desired frequency,
- return RTEMS_INVALID_NUMBER.*/
-
- return sc;
-}
-
-/**
- * @brief Installs the interrupt handler in rtems.
- */
-static inline rtems_status_code can_initialize( void )
-{
- return rtems_interrupt_handler_install(
- LPC176X_IRQ_CAN,
- "can_interrupt",
- RTEMS_INTERRUPT_UNIQUE,
- can_isr,
- NULL
- );
-}
-
-rtems_status_code can_open( const lpc176x_can_number minor, can_freq freq )
-{
- const can_driver_entry *const can_driver = &can_driver_table[ minor ];
- rtems_status_code sc = RTEMS_INVALID_NUMBER;
-
- if ( CAN_DRIVER_IS_MINOR_VALID( minor ) ) {
- /*Enable CAN and acceptance filter modules.*/
- sc =
- lpc176x_module_enable( can_driver->module, LPC176X_MODULE_PCLK_DEFAULT );
- RTEMS_CHECK_SC( sc, "enable can module" );
- sc = lpc176x_module_enable( LPC176X_MODULE_ACCF,
- LPC176X_MODULE_PCLK_DEFAULT );
- RTEMS_CHECK_SC( sc, "enable acceptance filter" );
- /*Set pin functions.*/
- setpins( minor );
-
- can_reset( can_driver );
- can_driver->device->IER = CAN_DEFAULT_INTERRUPT_CONFIGURATION;
- sc = can_frequency( can_driver, freq );
- RTEMS_CHECK_SC( sc, "Configure CAN frequency" );
- can_initialize();
-
- acceptance_filter_device->AFMR = CAN_ACCF_AFMR_ACCBP; /*Bypass Filter.*/
- }
-
- return sc;
-}
-
-/**
- * @brief Calls the installed isrs, according to the active interrupts.
- *
- * @param vector The read vector of active interrupts.
- * @param number The CAN device to look for interruptions.
- */
-static inline void call_isrs(
- const uint32_t vector,
- const lpc176x_can_number number
-)
-{
- can_irq_type i;
-
- for ( i = IRQ_RX; i < CAN_IRQ_NUMBER; ++i ) {
- if ( ( isr_vector[ i ] != NULL ) && ( vector & ( 1 << i ) ) )
- isr_vector[ i ]( number );
-
- /* else this interrupt has not been raised or it hasn't got a handler,
- so do nothing.*/
- }
-}
-
-/**
- * @brief Checks if the passed CAN device is enabled and if it is checks for
- * active interrupts and calls its installed isr.
- *
- * @param number The CAN device to check for interrupts rised.
- */
-static inline void search_and_call_int( const lpc176x_can_number number )
-{
- const can_driver_entry *const driver = &can_driver_table[ number ];
-
- if ( LPC176X_SCB.pconp & driver->pconp_pin ) {
- /*We must read the whole register at once because it resets when read.*/
- const uint32_t int_vector = driver->device->ICR & CAN_INTERRUPT_TYPE_MASK;
- call_isrs( int_vector, number );
- }
-
- /*else the device is shut down so we must do nothing.*/
-}
-
-/**
- * @brief The standard isr to be installed for all the CAN devices.
- *
- * @param arg unused.
- */
-static void can_isr( void *arg )
-{
- lpc176x_can_number i;
-
- for ( i = CAN_0; i < CAN_DEVICES_NUMBER; ++i ) {
- search_and_call_int( i );
- }
-}
-
-rtems_status_code can_read(
- const lpc176x_can_number minor,
- can_message *message
-)
-{
- rtems_status_code sc = RTEMS_IO_ERROR;
- const can_driver_entry *const can_driver = &can_driver_table[ minor ];
- can_device *const dev = can_driver->device;
- registers_can_message *const msg = &( message->registers );
-
- can_enable( can_driver );
-
- if ( dev->GSR & CAN_GSR_RBS_MASK ) {
- sc = RTEMS_SUCCESSFUL;
- *msg = dev->receive;
- dev->CMR = CAN_CMR_RRB_MASK; /* release receive buffer. */
- } /* else Message not received.*/
-
- return sc;
-}
-
-/**
- * @brief Array of masks and control bits for the transmit buffers.
- * It's used for each transmit buffer in order to see if it's available and to
- * send data to them.
- */
-static const can_transmit_info transmit_info[ CAN_NUMBER_OF_TRANSMIT_BUFFERS ]
- =
- {
- {
- .can_status_mask = 0x00000004U,
- .not_cc_cmr_value = 0x21U
- },
- {
- .can_status_mask = 0x00000400U,
- .not_cc_cmr_value = 0x41U
- },
- {
- .can_status_mask = 0x00040000U,
- .not_cc_cmr_value = 0x81U
- }
- };
-
-rtems_status_code can_write(
- const lpc176x_can_number minor,
- const can_message *const message
-)
-{
- const can_driver_entry *const can_driver = &can_driver_table[ minor ];
- can_device *const obj = can_driver->device;
- const uint32_t CANStatus = obj->SR;
-
- const registers_can_message *const msg = &( message->registers );
- rtems_status_code sc = RTEMS_IO_ERROR;
- can_transmit_number transmit_buffer;
-
- can_enable( can_driver );
-
- for ( transmit_buffer = CAN_TRANSMIT1;
- ( sc != RTEMS_SUCCESSFUL ) && ( transmit_buffer <
- CAN_NUMBER_OF_TRANSMIT_BUFFERS );
- ++transmit_buffer ) {
- if ( CANStatus & transmit_info[ transmit_buffer ].can_status_mask ) {
- sc = RTEMS_SUCCESSFUL;
- obj->transmit[ transmit_buffer ] = *msg;
- obj->CMR = transmit_info[ transmit_buffer ].not_cc_cmr_value;
- } /*else can buffer busy, try with the next.*/
- }
-
- return sc;
-}
-
-/**
- * @brief Enables the interrupt type passed to the desired CAN device.
- *
- * @param number The CAN device to enable the interrupts.
- * @param type The type of interrupt to enable.
- */
-static inline void can_enable_interrupt(
- const lpc176x_can_number number,
- const can_irq_type type
-)
-{
- const can_driver_entry *const driver = &can_driver_table[ number ];
- const uint32_t ier = 1 << type;
-
- can_disable( driver );
- driver->device->IER |= ier;
- can_enable( driver );
-}
-
-rtems_status_code can_register_isr(
- const lpc176x_can_number number,
- const can_irq_type type,
- const lpc176x_can_isr isr
-)
-{
- rtems_status_code sc = RTEMS_INVALID_NUMBER;
-
- if ( ( 0 <= type ) && ( type < CAN_IRQ_NUMBER ) ) {
- sc = RTEMS_SUCCESSFUL;
- isr_vector[ type ] = isr;
- can_enable_interrupt( number, type );
- }
-
- return sc;
-}
-
-rtems_status_code create_can_message(
- can_message *const msg,
- const int _id,
- const char *const _data,
- const char _len
-)
-{
- rtems_status_code sc = RTEMS_INVALID_NUMBER;
-
- if ( ( _len <= CAN_MAXIMUM_DATA_SIZE ) && ( _id <= CAN10_MAXIMUM_ID ) ) {
- sc = RTEMS_SUCCESSFUL;
- msg->low_level.dlc = _len;
- msg->low_level.type = CANStandard;
- msg->low_level.rtr = CANData;
- msg->low_level.id = _id;
- memcpy( msg->low_level.data, _data, _len );
- }
-
- return sc;
-}
-
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