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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.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 <bsp/mscan-base.h>
#include <bsp/mscan.h>
#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__ */
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