/*===============================================================*\ | 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.org/license/LICENSE. | | | +-----------------------------------------------------------------+ | this file has to be included by the m driver | \*===============================================================*/ #ifndef __MSCAN_INT_H__ #define __MSCAN_INT_H__ #ifdef __cplusplus extern "C" { #endif #include #include #define MSCAN_RX_BUFF_NUM 4 #define MSCAN_TX_BUFF_NUM 3 #define MSCAN_NON_INITIALIZED_MODE 0 #define MSCAN_INITIALIZED_MODE 1 #define MSCAN_INIT_NORMAL_MODE 2 #define MSCAN_NORMAL_MODE 4 #define MSCAN_SLEEP_MODE 8 #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_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 MSCAN_STATE_OK 0 #define MSCAN_STATE_ERR 1 #define MSCAN_STATE_WRN 2 #define MSCAN_STATE_BUSOFF 3 #define TX_MBUF_SEL(buf_no) (1 << (buf_no)) #define TX_DATA_LEN(len) ((len) & 0x0F) #define TX_MBUF_EMPTY(val) (1 << (val)) #define ID_RTR (1 << 4) #define SET_IDR0(u16) ((uint8_t)((u16) >> 3)) #define SET_IDR1(u16) (MSCAN_MESS_ID_HAS_RTR(u16) ? ((uint8_t)(((u16) & 0x0007) << 5))|((uint8_t)(ID_RTR)) : ((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) ((((u16)&(ID_RTR))==(ID_RTR)) ? (uint16_t) ((((u16) >> 5)&0x0007)|MSCAN_MESS_ID_RTR) : (uint16_t)(((u16) >> 5)&0x0007)) #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 SET_IDMR0(u16) ((uint8_t)((u16) >> 3)) #define SET_IDMR1(u16) (MSCAN_MESS_ID_HAS_RTR(u16) ? ((uint8_t) (((((u16) & 0x0007) << 5)|((uint8_t)(ID_RTR)))|0x0007)) : ((uint8_t)((((u16) & 0x0007) << 5))|0x0007)) #define SET_IDMR2(u16) SET_IDMR0(u16) #define SET_IDMR3(u16) SET_IDMR1(u16) #define SET_IDMR4(u16) SET_IDMR0(u16) #define SET_IDMR5(u16) SET_IDMR1(u16) #define SET_IDMR6(u16) SET_IDMR0(u16) #define SET_IDMR7(u16) SET_IDMR1(u16) #define GET_IDMR0(u16) ((uint16_t)((u16) << 3)) #define GET_IDMR1(u16) ((((u16)&(ID_RTR))==(ID_RTR)) ? (uint16_t) ((((u16) >> 5)&0x0007)|MSCAN_MESS_ID_RTR) : (uint16_t)(((u16) >> 5)&0x0007)) #define GET_IDMR2(u16) GET_IDMR0(u16) #define GET_IDMR3(u16) GET_IDMR1(u16) #define GET_IDMR4(u16) GET_IDMR0(u16) #define GET_IDMR5(u16) GET_IDMR1(u16) #define GET_IDMR6(u16) GET_IDMR0(u16) #define GET_IDMR7(u16) GET_IDMR1(u16) #define NO_OF_MSCAN_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 #define NO_OF_MSCAN_TX_BUFF 20 #define RING_BUFFER_EMPTY(rbuff) ((((rbuff)->head) == ((rbuff)->tail)) ? TRUE : FALSE) #define RING_BUFFER_FULL(rbuff) ((((rbuff)->head) == ((rbuff)->tail)) ? TRUE : FALSE) typedef struct _mscan_handle { uint8_t mscan_channel; void (*toucan_callback)(int16_t); } mscan_handle; struct ring_buf { struct can_message * volatile buf_ptr; struct can_message * volatile head_ptr; struct can_message * volatile tail_ptr; }; struct mpc5200_rx_cntrl { struct can_message can_rx_message[MSCAN_RX_BUFF_NUM]; }; struct mscan_channel_info { mscan *regs; uint32_t int_rx_err; rtems_id rx_qid; uint32_t rx_qname; rtems_id tx_rb_sid; uint32_t tx_rb_sname; uint8_t id_extended; uint8_t mode; uint8_t tx_buf_no; struct ring_buf tx_ring_buf; }; extern void CanInterrupt_A(int16_t); extern void CanInterrupt_B(int16_t); /*MSCAN driver internal functions */ void mscan_hardware_initialize(rtems_device_major_number, uint32_t, void *); void mpc5200_mscan_wait_sync(mscan *); void mpc5200_mscan_perform_init_mode_settings(mscan *); void mpc5200_mscan_perform_normal_mode_settings(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__ */