/*===============================================================*\ | Project: RTEMS generic MPC5200 BSP | +-----------------------------------------------------------------+ | Partially based on the code references which are named below. | | Adaptions, modifications, enhancements and any recent parts of | | the code are: | | 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 declares stuff for the mscan driver | \*===============================================================*/ #ifndef __MSCAN_H__ #define __MSCAN_H__ #ifdef __cplusplus extern "C" { #endif #define MSCAN_MAX_DATA_BYTES 8 #define MSCAN_RX_BUFF_NUM 4 #define MSCAN_TX_BUFF_NUM 3 #define MSCAN_A_DEV_NAME "/dev/mscana" #define MSCAN_B_DEV_NAME "/dev/mscanb" #define MSCAN_A 0 #define MSCAN_B 1 #define MSCAN_INITIALIZED_MODE 0 #define MSCAN_INIT_NORMAL_MODE 1 #define MSCAN_NORMAL_MODE 2 #define MSCAN_SLEEP_MODE 4 #define CAN_BIT_RATE 100000 #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 #define MSCAN_SET_RX_ID 1 #define MSCAN_GET_RX_ID 2 #define MSCAN_SET_RX_ID_MASK 3 #define MSCAN_GET_RX_ID_MASK 4 #define MSCAN_SET_TX_ID 5 #define MSCAN_GET_TX_ID 6 #define TOUCAN_MSCAN_INIT 7 #define MSCAN_RX_BUFF_NOACTIVE (0 << 4) #define MSCAN_RX_BUFF_EMPTY (1 << 6) #define MSCAN_RX_BUFF_FULL (1 << 5) #define MSCAN_RX_BUFF_OVERRUN ((MSCAN_RX_BUFF_EMPTY) | (MSCAN_RX_BUFF_FULL)) #define MSCAN_RX_BUFF_BUSY (1 << 4) #define MSCAN_A_MBUFF_MASK 0x07 #define MSCAN_B_MBUFF_MASK 0x07 #define MSCAN_TX_BUFF0 (1 << 0) #define MSCAN_TX_BUFF1 (1 << 1) #define MSCAN_TX_BUFF2 (1 << 2) #define MSCAN_IDE (1 << 0) #define MSCAN_RTR (1 << 1) #define MSCAN_READ_RXBUFF_0 (1 << 2) #define MSCAN_READ_RXBUFF_1 (1 << 2) #define MSCAN_READ_RXBUFF_2 (1 << 2) #define MSCAN_READ_RXBUFF_3 (1 << 2) #define CTL0_RXFRM (1 << 7) #define CTL0_RXACT (1 << 6) #define CTL0_CSWAI (1 << 5) #define CTL0_SYNCH (1 << 4) #define CTL0_TIME (1 << 3) #define CTL0_WUPE (1 << 2) #define CTL0_SLPRQ (1 << 1) #define CTL0_INITRQ (1 << 0) #define CTL1_CANE (1 << 7) #define CTL1_CLKSRC (1 << 6) #define CTL1_LOOPB (1 << 5) #define CTL1_LISTEN (1 << 4) #define CTL1_WUPM (1 << 2) #define CTL1_SLPAK (1 << 1) #define CTL1_INITAK (1 << 0) #define BTR0_SJW(btr0) ((btr0) << 6) #define BTR0_BRP(btr0) ((btr0) << 0) #define BTR1_SAMP (1 << 7) #define BTR1_TSEG_22_20(btr1) ((btr1) << 4) #define BTR1_TSEG_13_10(btr1) ((btr1) << 0) #define RFLG_WUPIF (1 << 7) #define RFLG_CSCIF (1 << 6) #define RFLG_RSTAT (3 << 4) #define RFLG_TSTAT (3 << 2) #define RFLG_OVRIF (1 << 1) #define RFLG_RXF (1 << 0) #define RFLG_GET_RX_STATE(rflg) (((rflg) >> 4) & 0x03) #define RFLG_GET_TX_STATE(rflg) (((rflg) >> 2) & 0x03) #define MSCAN_STATE_OK 0 #define MSCAN_STATE_ERR 1 #define MSCAN_STATE_WRN 2 #define MSCAN_STATE_BUSOFF 3 #define RIER_WUPIE (1 << 7) #define RIER_CSCIE (1 << 6) #define RIER_RSTAT(rier) ((rier) << 4) #define RIER_TSTAT(rier) ((rier) << 2) #define RIER_OVRIE (1 << 1) #define RIER_RXFIE (1 << 0) #define TFLG_TXE2 (1 << 2) #define TFLG_TXE1 (1 << 1) #define TFLG_TXE0 (1 << 0) #define TIER_TXEI2 (1 << 2) #define TIER_TXEI1 (1 << 1) #define TIER_TXEI0 (1 << 0) #define TARQ_ABTRQ2 (1 << 2) #define TARQ_ABTRQ1 (1 << 1) #define TARQ_ABTRQ0 (1 << 0) #define TAAK_ABTRQ2 (1 << 2) #define TAAK_ABTRQ1 (1 << 1) #define TAAK_ABTRQ0 (1 << 0) #define BSEL_TX2 (1 << 2) #define BSEL_TX1 (1 << 1) #define BSEL_TX0 (1 << 0) #define IDAC_IDAM1 (1 << 5) #define IDAC_IDAM0 (1 << 4) #define IDAC_IDHIT(idac) ((idac) & 0x7) #define TX_MBUF_SEL(buf_no) (1 << (buf_no)) #define TX_DATA_LEN(len) ((len) & 0x0F) #define TX_MBUF_EMPTY(val) (1 << (val)) #define TXIDR1_IDE (1 << 3) #define TXIDR1_SRR (1 << 4) #define TXIDR3_RTR (1 << 0) #define TXIDR1_RTR (1 << 4) #define RXIDR1_IDE (1 << 3) #define RXIDR1_SRR (1 << 4) #define RXIDR3_RTR (1 << 0) #define RXIDR1_RTR (1 << 4) #define SET_IDR0(u16) ((uint8_t)((u16) >> 3)) #define SET_IDR1(u16) ((uint8_t)(((u16) & 0x0007) << 5)) #define SET_IDR2(u16) SET_IDR0(u16) #define SET_IDR3(u16) SET_IDR1(u16) #define SET_IDR4(u16) SET_IDR0(u16) #define SET_IDR5(u16) SET_IDR1(u16) #define SET_IDR6(u16) SET_IDR0(u16) #define SET_IDR7(u16) SET_IDR1(u16) #define GET_IDR0(u16) ((uint16_t) ((u16) << 3)) #define GET_IDR1(u16) ((uint16_t)((u16) >> 5)) #define GET_IDR2(u16) GET_IDR0(u16) #define GET_IDR3(u16) GET_IDR1(u16) #define GET_IDR4(u16) GET_IDR0(u16) #define GET_IDR5(u16) GET_IDR1(u16) #define GET_IDR6(u16) GET_IDR0(u16) #define GET_IDR7(u16) GET_IDR1(u16) #define NO_OF_MSCAN_A_RX_BUFF 20 #define NO_OF_MSCAN_B_RX_BUFF 20 #define MSCAN_MESSAGE_SIZE(size) (((size)%CPU_ALIGNMENT) ? (((size) + CPU_ALIGNMENT)-((size) + CPU_ALIGNMENT)%CPU_ALIGNMENT) : (size)) #define TX_BUFFER_0 0 #define TX_BUFFER_1 1 #define TX_BUFFER_2 2 #define RX_BUFFER_0 0 #define RX_BUFFER_1 1 #define RX_BUFFER_2 2 #define RX_BUFFER_3 3 typedef struct _mscan_handle { uint8_t mscan_channel; void (*toucan_callback)(int16_t); } mscan_handle; struct can_message { /* uint16_t mess_len; */ uint16_t mess_id; uint16_t mess_time_stamp; uint8_t mess_data[MSCAN_MAX_DATA_BYTES]; uint8_t mess_len; }; struct mpc5200_rx_cntrl { struct can_message can_rx_message[MSCAN_RX_BUFF_NUM]; }; struct mscan_channel_info { volatile struct mpc5200_mscan *regs; uint32_t int_rx_err; rtems_id rx_qid; uint32_t rx_qname; uint8_t id_extended; uint8_t mode; }; struct mscan_rx_parms { struct can_message *rx_mess; uint32_t rx_timeout; uint8_t rx_flags; }; struct mscan_tx_parms { struct can_message *tx_mess; uint32_t tx_id; }; struct mscan_ctrl_parms { uint32_t ctrl_id; uint32_t ctrl_id_mask; uint8_t ctrl_reg_no; void (*toucan_cb_fnc)(int16_t); }; extern void CanInterrupt_A(int16_t); extern void CanInterrupt_B(int16_t); rtems_device_driver mscan_initialize( rtems_device_major_number, rtems_device_minor_number, void * ); rtems_device_driver mscan_open( rtems_device_major_number, rtems_device_minor_number, void * ); rtems_device_driver mscan_close( rtems_device_major_number, rtems_device_minor_number, void * ); rtems_device_driver mscan_read( rtems_device_major_number, rtems_device_minor_number, void * ); rtems_device_driver mscan_write( rtems_device_major_number, rtems_device_minor_number, void * ); rtems_device_driver mscan_control( rtems_device_major_number, rtems_device_minor_number, void * ); #define MSCAN_DRIVER_TABLE_ENTRY \ { mscan_initialize, mscan_open, mscan_close, \ mscan_read, mscan_write, mscan_control } /*MSCAN driver internal functions */ void mscan_hardware_initialize(rtems_device_major_number, uint32_t, void *); void mpc5200_mscan_int_enable(volatile struct mpc5200_mscan *); void mpc5200_mscan_int_disable(volatile struct mpc5200_mscan *); void mpc5200_mscan_enter_sleep_mode(volatile struct mpc5200_mscan *); void mpc5200_mscan_exit_sleep_mode(volatile struct mpc5200_mscan *); void mpc5200_mscan_enter_init_mode(volatile struct mpc5200_mscan *); void mpc5200_mscan_exit_init_mode(volatile struct mpc5200_mscan *); void mpc5200_mscan_wait_sync(volatile struct mpc5200_mscan *); void mpc5200_mscan_perform_init_mode_settings(volatile struct mpc5200_mscan *); void mpc5200_mscan_perform_normal_mode_settings(volatile struct mpc5200_mscan *); rtems_status_code mpc5200_mscan_set_mode(rtems_device_minor_number, uint8_t); rtems_status_code mscan_channel_initialize(rtems_device_major_number, rtems_device_minor_number); #ifdef __cplusplus } #endif #endif /* __MSCAN_H__ */