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|
/*===============================================================*\
| 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 MIN_NO_OF_TQ 7
#define NO_OF_TABLE_ENTRIES 4
#define TSEG_1 1
#define TSEG_2 2
#define SJW 3
#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_0_DEV_NAME "/dev/mscan0"
#define MSCAN_1_DEV_NAME "/dev/mscan1"
#define MSCAN_A 0
#define MSCAN_B 1
#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 CAN_BIT_RATE_MAX 1000000
#define CAN_BIT_RATE_MIN 100000
#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_SET_BAUDRATE 8
#define SET_TX_BUF_NO 9
#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 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)&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) ((uint8_t)((((u16) & 0x0007) << 5))|0x001F)
#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) ((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 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;
uint32_t toucan_tx_id;
};
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
{
volatile struct mpc5200_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;
};
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;
uint8_t ctrl_tx_buf_no;
uint32_t ctrl_can_bitrate;
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);
uint8_t prescaler_calculation(uint32_t, uint32_t, uint8_t *);
void mpc5200_mscan_perform_bit_time_settings(volatile struct mpc5200_mscan *, uint32_t, uint32_t);
#ifdef __cplusplus
}
#endif
#endif /* __MSCAN_H__ */
|
