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-rw-r--r--c/src/lib/libbsp/powerpc/gen5200/mscan/mscan-base.c546
1 files changed, 0 insertions, 546 deletions
diff --git a/c/src/lib/libbsp/powerpc/gen5200/mscan/mscan-base.c b/c/src/lib/libbsp/powerpc/gen5200/mscan/mscan-base.c
deleted file mode 100644
index 2044bb3917..0000000000
--- a/c/src/lib/libbsp/powerpc/gen5200/mscan/mscan-base.c
+++ /dev/null
@@ -1,546 +0,0 @@
-/**
- * @file
- *
- * @ingroup m
- *
- * @brief MSCAN support functions code.
- */
-
-/*
- * Copyright (c) 2008
- * 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.org/license/LICENSE.
- */
-
-#include <bsp.h>
-#include <bsp/mscan-base.h>
-
-#define MIN_NO_OF_TQ 7
-#define TSEG_1 1
-#define TSEG_2 2
-#define NO_OF_TABLE_ENTRIES 4
-#define SJW 3
-
-#define CAN_MAX_NO_OF_TQ 25
-#define CAN_MAX_NO_OF_TQ_TSEG1 15
-#define CAN_MAX_NO_OF_TQ_TSEG2 7
-#define CAN_MAX_NO_OF_TQ_SJW 2
-
-/**
- * Time segmant table.
- *
- * <table>
- * <tr>
- * <td>Number of time quantas</th>
- * <td>Time Segment 1</th>
- * <td>Time Segment 2</th>
- * <td>Sync: Jump width</th>
- * </tr>
- * </table>
- */
-static uint8_t can_time_segment_table
- [CAN_MAX_NO_OF_TQ - MIN_NO_OF_TQ + 1] [NO_OF_TABLE_ENTRIES] = {
- {7, 4, 2, 1},
- {8, 5, 2, 1},
- {9, 6, 2, 2},
- {10, 6, 3, 2},
- {11, 7, 3, 2},
- {12, 8, 3, 2},
- {13, 8, 4, 2},
- {14, 9, 4, 2},
- {15, 10, 4, 2},
- {16, 10, 5, 2},
- {17, 11, 5, 2},
- {18, 12, 5, 2},
- {19, 12, 6, 2},
- {20, 13, 6, 2},
- {21, 14, 6, 2},
- {22, 14, 7, 2},
- {23, 15, 7, 2},
- {24, 15, 8, 2},
- {25, 16, 8, 2}
-};
-
-/**
- * @brief Calculates the MSCAN clock prescaler value.
- */
-static uint8_t prescaler_calculation(
- unsigned can_bit_rate,
- unsigned can_clock_frq,
- uint8_t *tq_no
-)
-{
-
-/* local variables */
- uint8_t presc_val,
- tq_no_dev_min = 0;
- uint32_t bit_rate,
- bit_rate_dev,
- frq_tq,
- bit_rate_dev_min = 0xFFFFFFFF;
-
-/* loop through all values of time quantas */
- for (*tq_no = CAN_MAX_NO_OF_TQ; *tq_no >= MIN_NO_OF_TQ; (*tq_no)--) {
-
- /* calculate time quanta freq. */
- frq_tq = *tq_no * can_bit_rate;
-
- /* calculate the optimized prescal. val. */
- presc_val = (can_clock_frq + frq_tq / 2) / frq_tq;
-
- /* calculate the bitrate */
- bit_rate = can_clock_frq / (*tq_no * presc_val);
-
- /* calculate the bitrate deviation */
- if (can_bit_rate >= bit_rate) {
- /* calculate the bitrate deviation */
- bit_rate_dev = can_bit_rate - bit_rate;
- } else {
- /* calculate the bitrate deviation */
- bit_rate_dev = bit_rate - can_bit_rate;
- }
-
- /* check the deviation freq. */
- if (bit_rate_dev == 0) {
-
- /* return if best match (zero deviation) */
- return (uint8_t) (presc_val);
- } else {
-
- /* check for minimum of bit rate deviation */
- if (bit_rate_dev < bit_rate_dev_min) {
-
- /* recognize the minimum freq. deviation */
- bit_rate_dev_min = bit_rate_dev;
-
- /* recognize the no. of time quantas */
- tq_no_dev_min = *tq_no;
- }
- }
- }
-
- /* get the no of tq's */
- *tq_no = tq_no_dev_min;
-
- /* calculate time quanta freq. */
- frq_tq = *tq_no * can_bit_rate;
-
- /* return the optimized prescaler value */
- return (uint8_t) ((can_clock_frq + frq_tq / 2) / frq_tq);
-}
-
-/**
- * @brief Sets the bit rate for the MSCAN module @a m to @a can_bit_rate
- * in [bits/s].
- */
-bool mscan_set_bit_rate( volatile mscan *m, unsigned can_bit_rate)
-{
- mscan_context context;
- unsigned prescale_val = 0;
- uint8_t tq_no,
- tseg_1,
- tseg_2,
- sseg;
-
- if (can_bit_rate < MSCAN_BIT_RATE_MIN || can_bit_rate > MSCAN_BIT_RATE_MAX) {
- return false;
- }
-
- /* Enter initialization mode */
- mscan_initialization_mode_enter( m, &context);
-
- /* get optimized prescaler value */
- prescale_val = prescaler_calculation(can_bit_rate, IPB_CLOCK, &tq_no);
-
- /* Check prescaler value */
- if (prescale_val > 64) {
- /* Leave initialization mode */
- mscan_initialization_mode_leave( m, &context);
-
- return false;
- }
-
- /* get time segment length from time segment table */
- tseg_1 = can_time_segment_table[tq_no - MIN_NO_OF_TQ][TSEG_1];
- tseg_2 = can_time_segment_table[tq_no - MIN_NO_OF_TQ][TSEG_2];
- sseg = can_time_segment_table[tq_no - MIN_NO_OF_TQ][SJW];
-
- /* 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 */
- m->btr0 = (BTR0_SJW(sseg - 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 */
- m->btr1 = (BTR1_TSEG2(tseg_2 - 1) | BTR1_TSEG1(tseg_1 - 1));
-
- /* Leave initialization mode */
- mscan_initialization_mode_leave( m, &context);
-
- return true;
-}
-
-/**
- * @brief Disables all interrupts for the MSCAN module @a m.
- */
-void mscan_interrupts_disable( volatile mscan *m)
-{
- m->rier = 0;
- m->tier = 0;
-}
-
-/**
- * @brief Enter initialization mode for the MSCAN module @a m.
- *
- * Saves the current MSCAN context in @a context.
- */
-void mscan_initialization_mode_enter( volatile mscan *m, mscan_context *context)
-{
- /* Save context */
- context->ctl0 = m->ctl0 & CTL0_TIME;
- context->rier = m->rier;
- context->tier = m->tier;
-
- /* Request initialization mode */
- m->ctl0 |= CTL0_INITRQ;
-
- /* Wait for initialization mode acknowledge */
- while ((m->ctl1 & CTL1_INITAK) == 0) {
- /* Wait */
- }
-}
-
-/**
- * @brief Leave initialization mode for the MSCAN module @a m.
- *
- * Saves the previous MSCAN context saved in @a context.
- */
-void mscan_initialization_mode_leave( volatile mscan *m, const mscan_context *context)
-{
- /* Clear initialization mode request */
- m->ctl0 &= ~CTL0_INITRQ;
-
- /* Wait for clearing of initialization mode acknowledge */
- while ((m->ctl1 & CTL1_INITAK) != 0) {
- /* Wait */
- }
-
- /* Leave sleep mode */
- mscan_sleep_mode_leave( m);
-
- /* Restore context */
- m->ctl0 |= context->ctl0;
- m->rier |= context->rier;
- m->tier |= context->tier;
-}
-
-/**
- * @brief Enter sleep mode for the MSCAN module @a m.
- */
-void mscan_sleep_mode_enter( volatile mscan *m)
-{
- /* Request sleep mode */
- m->ctl0 |= CTL0_SLPRQ;
-}
-
-/**
- * @brief Leave sleep mode for the MSCAN module @a m.
- */
-void mscan_sleep_mode_leave( volatile mscan *m)
-{
- /* Clear sleep mode request */
- m->ctl0 &= ~CTL0_SLPRQ;
-
- /* Wait for clearing of sleep mode acknowledge */
- while ((m->ctl1 & CTL1_SLPAK) != 0) {
- /* Wait */
- }
-}
-
-/**
- * @brief Enables and initializes the MSCAN module @a m.
- *
- * The module is set to listen only mode.
- */
-bool mscan_enable( volatile mscan *m, unsigned bit_rate)
-{
- bool s = true;
-
- /* Disable the module */
- mscan_disable( m);
-
- /* Enable module in listen only */
- m->ctl1 = CTL1_CANE | CTL1_LISTEN;
-
- /* Close acceptance filters */
- m->idac = IDAC_IDAM1 | IDAC_IDAM0;
-
- /* Clear filter */
- mscan_filter_clear( m);
-
- /* Set bit rate and leave initialization mode */
- s = mscan_set_bit_rate( m, bit_rate);
-
- /* Clear all flags */
- m->ctl0 = CTL0_RXFRM;
-
- /* Disable interrupts */
- mscan_interrupts_disable( m);
-
- return s;
-}
-
-/**
- * @brief Disables the MSCAN module @a m.
- *
- * The module is set to sleep mode and disabled afterwards.
- */
-void mscan_disable( volatile mscan *m)
-{
- mscan_context context;
-
- /* Disable interrupts */
- mscan_interrupts_disable( m);
-
- /* Enter initialization mode */
- mscan_initialization_mode_enter( m, &context);
-
- /* Disable module */
- m->ctl1 &= ~CTL1_CANE;
-}
-
-/**
- * @brief Sets the filter ID and mask registers of the MSCAN module @a m to
- * default values.
- */
-void mscan_filter_clear( volatile mscan *m)
-{
- mscan_context context;
-
- mscan_initialization_mode_enter( m, &context);
-
- /* Setup ID acceptance registers */
- m->idar0 = MSCAN_FILTER_ID_DEFAULT;
- m->idar1 = MSCAN_FILTER_ID_DEFAULT;
- m->idar2 = MSCAN_FILTER_ID_DEFAULT;
- m->idar3 = MSCAN_FILTER_ID_DEFAULT;
- m->idar4 = MSCAN_FILTER_ID_DEFAULT;
- m->idar5 = MSCAN_FILTER_ID_DEFAULT;
- m->idar6 = MSCAN_FILTER_ID_DEFAULT;
- m->idar7 = MSCAN_FILTER_ID_DEFAULT;
-
- /* Setup ID mask registers */
- m->idmr0 = (uint8_t) MSCAN_FILTER_MASK_DEFAULT;
- m->idmr1 = (uint8_t) MSCAN_FILTER_MASK_DEFAULT;
- m->idmr2 = (uint8_t) MSCAN_FILTER_MASK_DEFAULT;
- m->idmr3 = (uint8_t) MSCAN_FILTER_MASK_DEFAULT;
- m->idmr4 = (uint8_t) MSCAN_FILTER_MASK_DEFAULT;
- m->idmr5 = (uint8_t) MSCAN_FILTER_MASK_DEFAULT;
- m->idmr6 = (uint8_t) MSCAN_FILTER_MASK_DEFAULT;
- m->idmr7 = (uint8_t) MSCAN_FILTER_MASK_DEFAULT;
-
- mscan_initialization_mode_leave( m, &context);
-}
-
-/**
- * @brief Returns the number of active filters of the MSCAN module @a m.
- *
- * @see MSCAN_FILTER_NUMBER_MIN, MSCAN_FILTER_NUMBER_2, MSCAN_FILTER_NUMBER_4
- * and MSCAN_FILTER_NUMBER_MAX.
- */
-unsigned mscan_filter_number( volatile mscan *m)
-{
- uint8_t idam = m->idac & IDAC_IDAM;
-
- switch (idam) {
- case 0:
- return MSCAN_FILTER_NUMBER_2;
- case IDAC_IDAM0:
- return MSCAN_FILTER_NUMBER_4;
- case IDAC_IDAM1:
- return MSCAN_FILTER_NUMBER_MAX;
- default:
- return MSCAN_FILTER_NUMBER_MIN;
- }
-}
-
-/**
- * @brief Sets the number of active filters of the MSCAN module @a m to @a
- * number and returns true if @a number is valid.
- *
- * @see MSCAN_FILTER_NUMBER_MIN, MSCAN_FILTER_NUMBER_2, MSCAN_FILTER_NUMBER_4
- * and MSCAN_FILTER_NUMBER_MAX.
- */
-bool mscan_set_filter_number( volatile mscan *m, unsigned number)
-{
- mscan_context context;
- uint8_t idac = IDAC_IDAM1 | IDAC_IDAM0;
-
- switch (number) {
- case MSCAN_FILTER_NUMBER_MIN:
- break;
- case MSCAN_FILTER_NUMBER_2:
- idac = 0;
- break;
- case MSCAN_FILTER_NUMBER_4:
- idac = IDAC_IDAM0;
- break;
- case MSCAN_FILTER_NUMBER_MAX:
- idac = IDAC_IDAM1;
- break;
- default:
- return false;
- }
-
- mscan_initialization_mode_enter( m, &context);
-
- m->idac = idac;
-
- mscan_initialization_mode_leave( m, &context);
-
- /* Clear filter */
- mscan_filter_clear( m);
-
- return true;
-}
-
-/**
- * @brief Returns the address of the CANIDAR register with index @a i of the
- * MSCAN module @a m.
- *
- * @warning The index @a i is not checked if it is in range.
- */
-volatile uint8_t *mscan_id_acceptance_register( volatile mscan *m, unsigned i)
-{
- volatile uint8_t *const idar [8] = {
- &m->idar0,
- &m->idar1,
- &m->idar2,
- &m->idar3,
- &m->idar4,
- &m->idar5,
- &m->idar6,
- &m->idar7
- };
-
- return idar [i];
-}
-
-/**
- * @brief Returns the address of the CANIDMR register with index @a i of the
- * MSCAN module @a m.
- *
- * @warning The index @a i is not checked if it is in range.
- */
-volatile uint8_t *mscan_id_mask_register( volatile mscan *m, unsigned i)
-{
- volatile uint8_t *const idmr [8] = {
- &m->idmr0,
- &m->idmr1,
- &m->idmr2,
- &m->idmr3,
- &m->idmr4,
- &m->idmr5,
- &m->idmr6,
- &m->idmr7
- };
-
- return idmr [i];
-}
-
-/**
- * @brief Sets or gets the filter ID and mask in @a id and @a mask depending on
- * @a set of MSCAN module @a m. The filter is selected by the value of @a
- * index.
- *
- * Returns true if the operation was successful.
- */
-bool mscan_filter_operation(
- volatile mscan *m,
- bool set,
- unsigned index,
- uint32_t *id,
- uint32_t *mask
-)
-{
- unsigned number = mscan_filter_number( m);
- unsigned offset = MSCAN_FILTER_NUMBER_MAX / number;
- unsigned shift = 24;
-
- volatile uint8_t *idar = NULL;
- volatile uint8_t *idmr = NULL;
-
- if (!set) {
- *id = MSCAN_FILTER_ID_DEFAULT;
- *mask = MSCAN_FILTER_MASK_DEFAULT;
- }
-
- if (index < number) {
- mscan_context context;
-
- mscan_initialization_mode_enter( m, &context);
-
- index *= offset;
- offset += index;
- while (index < offset) {
- idar = mscan_id_acceptance_register( m, index);
- idmr = mscan_id_mask_register( m, index);
-
- if (set) {
- *idar = (uint8_t) (*id >> shift);
- *idmr = (uint8_t) (*mask >> shift);
- } else {
- *id = (*id & ~(0xffU << shift)) | (*idar << shift);
- *mask = (*mask & ~(0xffU << shift)) | (*idmr << shift);
- }
-
- shift -= 8;
-
- ++index;
- }
-
- mscan_initialization_mode_leave( m, &context);
- } else {
- return false;
- }
-
- return true;
-}
-
-/**
- * @brief Returns the receiver and transmitter error counter values in @a rec
- * and @a tec of MSCAN module @a m.
- */
-void mscan_get_error_counters( volatile mscan *m, unsigned *rec, unsigned *tec)
-{
- mscan_context context;
-
- mscan_initialization_mode_enter( m, &context);
-
- *rec = m->rxerr;
- *tec = m->txerr;
-
- mscan_initialization_mode_leave( m, &context);
-}
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