1 | /* mbed Microcontroller Library
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2 | * Copyright (c) 2006-2013 ARM Limited
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3 | *
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4 | * Licensed under the Apache License, Version 2.0 (the "License");
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5 | * you may not use this file except in compliance with the License.
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6 | * You may obtain a copy of the License at
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7 | *
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8 | * http://www.apache.org/licenses/LICENSE-2.0
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9 | *
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10 | * Unless required by applicable law or agreed to in writing, software
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11 | * distributed under the License is distributed on an "AS IS" BASIS,
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12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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13 | * See the License for the specific language governing permissions and
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14 | * limitations under the License.
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15 | */
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16 | #include <string.h>
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17 | #include "mbed_assert.h"
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18 | #include "can_api.h"
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19 | #include "RZ_A1_Init.h"
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20 | #include "cmsis.h"
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21 | #include "pinmap.h"
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22 | #include "rscan0_iodefine.h"
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23 | #include "r_typedefs.h"
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24 | #include "MBRZA1H.h"
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25 |
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26 | #define CAN_NUM 5
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27 | #define CAN_SND_RCV 2
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28 | #define IRQ_NUM 8
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29 |
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30 | static void can_rec_irq(uint32_t ch);
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31 | static void can_trx_irq(uint32_t ch);
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32 | static void can_err_irq(uint32_t ch, CanIrqType type);
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33 | static void can0_rec_irq(void);
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34 | static void can1_rec_irq(void);
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35 | static void can2_rec_irq(void);
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36 | static void can3_rec_irq(void);
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37 | static void can4_rec_irq(void);
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38 | static void can0_trx_irq(void);
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39 | static void can1_trx_irq(void);
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40 | static void can2_trx_irq(void);
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41 | static void can3_trx_irq(void);
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42 | static void can4_trx_irq(void);
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43 | static void can0_err_warning_irq(void);
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44 | static void can1_err_warning_irq(void);
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45 | static void can2_err_warning_irq(void);
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46 | static void can3_err_warning_irq(void);
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47 | static void can4_err_warning_irq(void);
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48 | static void can0_overrun_irq(void);
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49 | static void can1_overrun_irq(void);
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50 | static void can2_overrun_irq(void);
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51 | static void can3_overrun_irq(void);
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52 | static void can4_overrun_irq(void);
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53 | static void can0_passive_irq(void);
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54 | static void can1_passive_irq(void);
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55 | static void can2_passive_irq(void);
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56 | static void can3_passive_irq(void);
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57 | static void can4_passive_irq(void);
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58 | static void can0_arb_lost_irq(void);
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59 | static void can1_arb_lost_irq(void);
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60 | static void can2_arb_lost_irq(void);
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61 | static void can3_arb_lost_irq(void);
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62 | static void can4_arb_lost_irq(void);
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63 | static void can0_bus_err_irq(void);
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64 | static void can1_bus_err_irq(void);
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65 | static void can2_bus_err_irq(void);
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66 | static void can3_bus_err_irq(void);
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67 | static void can4_bus_err_irq(void);
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68 | static void can_reset_reg(can_t *obj);
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69 | static void can_reset_recv_rule(can_t *obj);
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70 | static void can_reset_buffer(can_t *obj);
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71 | static void can_reconfigure_channel(void);
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72 | static void can_set_frequency(can_t *obj, int f);
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73 | static void can_set_global_mode(int mode);
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74 | static void can_set_channel_mode(uint32_t ch, int mode);
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75 |
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76 | typedef enum {
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77 | CAN_SEND = 0,
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78 | CAN_RECV
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79 | } CANfunc;
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80 |
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81 | typedef enum {
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82 | GL_OPE = 0,
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83 | GL_RESET,
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84 | GL_TEST
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85 | } Globalmode;
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86 |
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87 | typedef enum {
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88 | CH_COMM = 0,
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89 | CH_RESET,
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90 | CH_HOLD
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91 | } Channelmode;
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92 |
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93 | typedef struct {
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94 | IRQn_Type int_num; /* Interrupt number */
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95 | IRQHandler handler; /* Interrupt handler */
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96 | } can_info_int_t;
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97 |
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98 | static can_irq_handler irq_handler;
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99 | static uint32_t can_irq_id[CAN_NUM];
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100 | static int can_initialized[CAN_NUM] = {0};
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101 |
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102 | static const PinMap PinMap_CAN_RD[] = {
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103 | {P7_8 , CAN_0, 4},
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104 | {P9_1 , CAN_0, 3},
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105 | {P1_4 , CAN_1, 3},
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106 | {P5_9 , CAN_1, 5},
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107 | {P7_11 , CAN_1, 4},
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108 | {P11_12, CAN_1, 1},
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109 | {P4_9 , CAN_2, 6},
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110 | {P6_4 , CAN_2, 3},
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111 | {P7_2 , CAN_2, 5},
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112 | {P2_12 , CAN_3, 5},
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113 | {P4_2 , CAN_3, 4},
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114 | {P1_5 , CAN_4, 3},
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115 | {P2_14 , CAN_4, 5},
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116 | {NC , NC , 0}
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117 | };
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118 |
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119 | static const PinMap PinMap_CAN_TD[] = {
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120 | {P7_9 , CAN_0, 4},
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121 | {P9_0 , CAN_0, 3},
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122 | {P5_10 , CAN_1, 5},
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123 | {P7_10 , CAN_1, 4},
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124 | {P11_13, CAN_1, 1},
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125 | {P4_8 , CAN_2, 6},
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126 | {P6_5 , CAN_2, 3},
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127 | {P7_3 , CAN_2, 5},
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128 | {P2_13 , CAN_3, 5},
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129 | {P4_3 , CAN_3, 4},
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130 | {P4_11 , CAN_4, 6},
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131 | {P8_10 , CAN_4, 5},
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132 | {NC , NC , 0}
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133 | };
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134 |
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135 | static __IO uint32_t *CTR_MATCH[] = {
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136 | &RSCAN0C0CTR,
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137 | &RSCAN0C1CTR,
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138 | &RSCAN0C2CTR,
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139 | &RSCAN0C3CTR,
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140 | &RSCAN0C4CTR,
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141 | };
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142 |
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143 | static __IO uint32_t *CFG_MATCH[] = {
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144 | &RSCAN0C0CFG,
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145 | &RSCAN0C1CFG,
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146 | &RSCAN0C2CFG,
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147 | &RSCAN0C3CFG,
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148 | &RSCAN0C4CFG,
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149 | };
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150 |
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151 | static __IO uint32_t *RFCC_MATCH[] = {
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152 | &RSCAN0RFCC0,
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153 | &RSCAN0RFCC1,
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154 | &RSCAN0RFCC2,
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155 | &RSCAN0RFCC3,
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156 | &RSCAN0RFCC4,
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157 | &RSCAN0RFCC5,
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158 | &RSCAN0RFCC6,
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159 | &RSCAN0RFCC7
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160 | };
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161 |
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162 | static __IO uint32_t *TXQCC_MATCH[] = {
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163 | &RSCAN0TXQCC0,
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164 | &RSCAN0TXQCC1,
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165 | &RSCAN0TXQCC2,
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166 | &RSCAN0TXQCC3,
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167 | &RSCAN0TXQCC4,
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168 | };
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169 |
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170 | static __IO uint32_t *THLCC_MATCH[] = {
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171 | &RSCAN0THLCC0,
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172 | &RSCAN0THLCC1,
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173 | &RSCAN0THLCC2,
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174 | &RSCAN0THLCC3,
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175 | &RSCAN0THLCC4,
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176 | };
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177 |
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178 | static __IO uint32_t *STS_MATCH[] = {
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179 | &RSCAN0C0STS,
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180 | &RSCAN0C1STS,
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181 | &RSCAN0C2STS,
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182 | &RSCAN0C3STS,
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183 | &RSCAN0C4STS,
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184 | };
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185 |
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186 | static __IO uint32_t *ERFL_MATCH[] = {
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187 | &RSCAN0C0ERFL,
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188 | &RSCAN0C1ERFL,
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189 | &RSCAN0C2ERFL,
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190 | &RSCAN0C3ERFL,
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191 | &RSCAN0C4ERFL,
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192 | };
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193 |
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194 | static __IO uint32_t *CFCC_TBL[CAN_NUM][CAN_SND_RCV] = {
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195 | { &RSCAN0CFCC0 , &RSCAN0CFCC1 },
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196 | { &RSCAN0CFCC3 , &RSCAN0CFCC4 },
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197 | { &RSCAN0CFCC6 , &RSCAN0CFCC7 },
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198 | { &RSCAN0CFCC9 , &RSCAN0CFCC10 },
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199 | { &RSCAN0CFCC12, &RSCAN0CFCC13 }
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200 | };
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201 |
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202 | static __IO uint32_t *CFSTS_TBL[CAN_NUM][CAN_SND_RCV] = {
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203 | { &RSCAN0CFSTS0 , &RSCAN0CFSTS1 },
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204 | { &RSCAN0CFSTS3 , &RSCAN0CFSTS4 },
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205 | { &RSCAN0CFSTS6 , &RSCAN0CFSTS7 },
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206 | { &RSCAN0CFSTS9 , &RSCAN0CFSTS10 },
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207 | { &RSCAN0CFSTS12, &RSCAN0CFSTS13 }
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208 | };
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209 |
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210 | static __IO uint32_t *CFPCTR_TBL[CAN_NUM][CAN_SND_RCV] = {
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211 | { &RSCAN0CFPCTR0 , &RSCAN0CFPCTR1 },
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212 | { &RSCAN0CFPCTR3 , &RSCAN0CFPCTR4 },
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213 | { &RSCAN0CFPCTR6 , &RSCAN0CFPCTR7 },
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214 | { &RSCAN0CFPCTR9 , &RSCAN0CFPCTR10 },
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215 | { &RSCAN0CFPCTR12, &RSCAN0CFPCTR13 }
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216 | };
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217 |
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218 | static __IO uint32_t *CFID_TBL[CAN_NUM][CAN_SND_RCV] = {
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219 | { &RSCAN0CFID0 , &RSCAN0CFID1 },
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220 | { &RSCAN0CFID3 , &RSCAN0CFID4 },
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221 | { &RSCAN0CFID6 , &RSCAN0CFID7 },
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222 | { &RSCAN0CFID9 , &RSCAN0CFID10 },
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223 | { &RSCAN0CFID12, &RSCAN0CFID13 }
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224 | };
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225 |
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226 | static __IO uint32_t *CFPTR_TBL[CAN_NUM][CAN_SND_RCV] = {
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227 | { &RSCAN0CFPTR0 , &RSCAN0CFPTR1 },
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228 | { &RSCAN0CFPTR3 , &RSCAN0CFPTR4 },
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229 | { &RSCAN0CFPTR6 , &RSCAN0CFPTR7 },
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230 | { &RSCAN0CFPTR9 , &RSCAN0CFPTR10 },
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231 | { &RSCAN0CFPTR12, &RSCAN0CFPTR13 }
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232 | };
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233 |
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234 | static __IO uint32_t *CFDF0_TBL[CAN_NUM][CAN_SND_RCV] = {
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235 | { &RSCAN0CFDF00 , &RSCAN0CFDF01 },
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236 | { &RSCAN0CFDF03 , &RSCAN0CFDF04 },
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237 | { &RSCAN0CFDF06 , &RSCAN0CFDF07 },
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238 | { &RSCAN0CFDF09 , &RSCAN0CFDF010 },
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239 | { &RSCAN0CFDF012, &RSCAN0CFDF013 }
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240 | };
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241 |
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242 | static __IO uint32_t *CFDF1_TBL[CAN_NUM][CAN_SND_RCV] = {
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243 | { &RSCAN0CFDF10 , &RSCAN0CFDF11 },
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244 | { &RSCAN0CFDF13 , &RSCAN0CFDF14 },
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245 | { &RSCAN0CFDF16 , &RSCAN0CFDF17 },
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246 | { &RSCAN0CFDF19 , &RSCAN0CFDF110 },
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247 | { &RSCAN0CFDF112, &RSCAN0CFDF113 }
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248 | };
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249 |
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250 | static const can_info_int_t can_int_info[CAN_NUM][IRQ_NUM] =
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251 | {
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252 | { /* ch0 */
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253 | { INTRCAN0REC_IRQn, can0_rec_irq }, /* RxIrq */
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254 | { INTRCAN0TRX_IRQn, can0_trx_irq }, /* TxIrq */
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255 | { INTRCAN0ERR_IRQn, can0_err_warning_irq }, /* EwIrq */
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256 | { INTRCAN0ERR_IRQn, can0_overrun_irq }, /* DoIrq */
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257 | { INTRCAN0ERR_IRQn, NULL }, /* WuIrq(not supported) */
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258 | { INTRCAN0ERR_IRQn, can0_passive_irq }, /* EpIrq */
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259 | { INTRCAN0ERR_IRQn, can0_arb_lost_irq }, /* AlIrq */
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260 | { INTRCAN0ERR_IRQn, can0_bus_err_irq } /* BeIrq */
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261 | },
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262 | { /* ch1 */
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263 | { INTRCAN1REC_IRQn, can1_rec_irq }, /* RxIrq */
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264 | { INTRCAN1TRX_IRQn, can1_trx_irq }, /* TxIrq */
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265 | { INTRCAN1ERR_IRQn, can1_err_warning_irq }, /* EwIrq */
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266 | { INTRCAN1ERR_IRQn, can1_overrun_irq }, /* DoIrq */
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267 | { INTRCAN1ERR_IRQn, NULL }, /* WuIrq(not supported) */
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268 | { INTRCAN1ERR_IRQn, can1_passive_irq }, /* EpIrq */
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269 | { INTRCAN1ERR_IRQn, can1_arb_lost_irq }, /* AlIrq */
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270 | { INTRCAN1ERR_IRQn, can1_bus_err_irq } /* BeIrq */
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271 | },
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272 | { /* ch2 */
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273 | { INTRCAN2REC_IRQn, can2_rec_irq }, /* RxIrq */
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274 | { INTRCAN2TRX_IRQn, can2_trx_irq }, /* TxIrq */
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275 | { INTRCAN2ERR_IRQn, can2_err_warning_irq }, /* EwIrq */
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276 | { INTRCAN2ERR_IRQn, can2_overrun_irq }, /* DoIrq */
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277 | { INTRCAN2ERR_IRQn, NULL }, /* WuIrq(not supported) */
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278 | { INTRCAN2ERR_IRQn, can2_passive_irq }, /* EpIrq */
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279 | { INTRCAN2ERR_IRQn, can2_arb_lost_irq }, /* AlIrq */
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280 | { INTRCAN2ERR_IRQn, can2_bus_err_irq } /* BeIrq */
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281 | },
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282 | { /* ch3 */
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283 | { INTRCAN3REC_IRQn, can3_rec_irq }, /* RxIrq */
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284 | { INTRCAN3TRX_IRQn, can3_trx_irq }, /* TxIrq */
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285 | { INTRCAN3ERR_IRQn, can3_err_warning_irq }, /* EwIrq */
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286 | { INTRCAN3ERR_IRQn, can3_overrun_irq }, /* DoIrq */
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287 | { INTRCAN3ERR_IRQn, NULL }, /* WuIrq(not supported) */
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288 | { INTRCAN3ERR_IRQn, can3_passive_irq }, /* EpIrq */
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289 | { INTRCAN3ERR_IRQn, can3_arb_lost_irq }, /* AlIrq */
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290 | { INTRCAN3ERR_IRQn, can3_bus_err_irq } /* BeIrq */
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291 | },
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292 | { /* ch4 */
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293 | { INTRCAN4REC_IRQn, can4_rec_irq }, /* RxIrq */
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294 | { INTRCAN4TRX_IRQn, can4_trx_irq }, /* TxIrq */
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295 | { INTRCAN4ERR_IRQn, can4_err_warning_irq }, /* EwIrq */
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296 | { INTRCAN4ERR_IRQn, can4_overrun_irq }, /* DoIrq */
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297 | { INTRCAN4ERR_IRQn, NULL }, /* WuIrq(not supported) */
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298 | { INTRCAN4ERR_IRQn, can4_passive_irq }, /* EpIrq */
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299 | { INTRCAN4ERR_IRQn, can4_arb_lost_irq }, /* AlIrq */
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300 | { INTRCAN4ERR_IRQn, can4_bus_err_irq } /* BeIrq */
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301 | }
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302 | };
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303 |
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304 | static __IO uint32_t *dmy_gaflid = &RSCAN0GAFLID0;
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305 | static __IO uint32_t *dmy_gaflm = &RSCAN0GAFLM0;
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306 | static __IO uint32_t *dmy_gaflp0 = &RSCAN0GAFLP00;
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307 | static __IO uint32_t *dmy_gaflp1 = &RSCAN0GAFLP10;
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308 |
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309 | void can_irq_init(can_t *obj, can_irq_handler handler, uint32_t id) {
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310 | irq_handler = handler;
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311 | can_irq_id[obj->ch] = id;
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312 | }
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313 |
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314 | void can_irq_free(can_t *obj) {
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315 | can_irq_id[obj->ch] = 0;
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316 | }
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317 |
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318 | void can_irq_set(can_t *obj, CanIrqType type, uint32_t enable) {
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319 | __IO uint32_t *dmy_ctr;
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320 |
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321 | /* Wake-up Irq is not supported */
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322 | if (type != IRQ_WAKEUP) {
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323 | if (enable) {
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324 | dmy_ctr = CTR_MATCH[obj->ch];
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325 | if (type == IRQ_ERROR) {
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326 | /* EWIE interrupts is enable */
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327 | *dmy_ctr |= 0x00000200;
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328 | } else if (type == IRQ_OVERRUN) {
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329 | /* OLIE interrupts is enable */
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330 | *dmy_ctr |= 0x00002000;
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331 | } else if (type == IRQ_PASSIVE) {
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332 | /* EPIE interrupts is enable */
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333 | *dmy_ctr |= 0x00000400;
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334 | } else if (type == IRQ_ARB) {
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335 | /* ALIE interrupts is enable */
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336 | *dmy_ctr |= 0x00008000;
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337 | } else if (type == IRQ_BUS) {
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338 | /* BEIE interrupts is enable */
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339 | *dmy_ctr |= 0x00000100;
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340 | }
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341 | InterruptHandlerRegister(can_int_info[obj->ch][type].int_num, can_int_info[obj->ch][type].handler);
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342 | GIC_SetPriority(can_int_info[obj->ch][type].int_num, 5);
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343 | GIC_EnableIRQ(can_int_info[obj->ch][type].int_num);
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344 | } else {
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345 | GIC_DisableIRQ(can_int_info[obj->ch][type].int_num);
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346 | }
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347 | }
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348 | }
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349 |
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350 | static void can_rec_irq(uint32_t ch) {
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351 | __IO uint32_t *dmy_cfsts;
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352 |
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353 | dmy_cfsts = CFSTS_TBL[ch][CAN_RECV];
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354 | *dmy_cfsts &= 0xFFFFFFF7; // Clear CFRXIF
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355 |
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356 | irq_handler(can_irq_id[ch], IRQ_RX);
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357 | }
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358 |
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359 | static void can_trx_irq(uint32_t ch) {
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360 | __IO uint32_t *dmy_cfsts;
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361 |
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362 | dmy_cfsts = CFSTS_TBL[ch][CAN_SEND];
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363 | *dmy_cfsts &= 0xFFFFFFEF; // Clear CFTXIF
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364 |
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365 | irq_handler(can_irq_id[ch], IRQ_TX);
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366 | }
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367 |
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368 | static void can_err_irq(uint32_t ch, CanIrqType type) {
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369 | __IO uint32_t *dmy_erfl;
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370 | int val = 1;
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371 |
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372 | dmy_erfl = ERFL_MATCH[ch];
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373 | switch (type) {
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374 | case IRQ_ERROR:
|
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375 | *dmy_erfl &= 0xFFFFFFFD; // Clear EWF
|
---|
376 | break;
|
---|
377 | case IRQ_OVERRUN:
|
---|
378 | *dmy_erfl &= 0xFFFFFFDF; // Clear OVLF
|
---|
379 | break;
|
---|
380 | case IRQ_PASSIVE:
|
---|
381 | *dmy_erfl &= 0xFFFFFFFB; // Clear EPF
|
---|
382 | break;
|
---|
383 | case IRQ_ARB:
|
---|
384 | *dmy_erfl &= 0xFFFFFF7F; // Clear ALF
|
---|
385 | break;
|
---|
386 | case IRQ_BUS:
|
---|
387 | *dmy_erfl &= 0xFFFF00FF; // Clear ADERR, B0ERR, B1ERR, CERR, AERR, FERR, SERR
|
---|
388 | *dmy_erfl &= 0xFFFFFFFE; // Clear BEF
|
---|
389 | break;
|
---|
390 | case IRQ_WAKEUP:
|
---|
391 | /* not supported */
|
---|
392 | /* fall through */
|
---|
393 | default:
|
---|
394 | val = 0;
|
---|
395 | break;
|
---|
396 | }
|
---|
397 | if (val == 1) {
|
---|
398 | irq_handler(can_irq_id[ch], type);
|
---|
399 | }
|
---|
400 | }
|
---|
401 |
|
---|
402 | static void can0_rec_irq(void) {
|
---|
403 | can_rec_irq(CAN_0);
|
---|
404 | }
|
---|
405 |
|
---|
406 | static void can1_rec_irq(void) {
|
---|
407 | can_rec_irq(CAN_1);
|
---|
408 | }
|
---|
409 |
|
---|
410 | static void can2_rec_irq(void) {
|
---|
411 | can_rec_irq(CAN_2);
|
---|
412 | }
|
---|
413 |
|
---|
414 | static void can3_rec_irq(void) {
|
---|
415 | can_rec_irq(CAN_3);
|
---|
416 | }
|
---|
417 |
|
---|
418 | static void can4_rec_irq(void) {
|
---|
419 | can_rec_irq(CAN_4);
|
---|
420 | }
|
---|
421 |
|
---|
422 | static void can0_trx_irq(void) {
|
---|
423 | can_trx_irq(CAN_0);
|
---|
424 | }
|
---|
425 |
|
---|
426 | static void can1_trx_irq(void) {
|
---|
427 | can_trx_irq(CAN_1);
|
---|
428 | }
|
---|
429 |
|
---|
430 | static void can2_trx_irq(void) {
|
---|
431 | can_trx_irq(CAN_2);
|
---|
432 | }
|
---|
433 |
|
---|
434 | static void can3_trx_irq(void) {
|
---|
435 | can_trx_irq(CAN_3);
|
---|
436 | }
|
---|
437 |
|
---|
438 | static void can4_trx_irq(void) {
|
---|
439 | can_trx_irq(CAN_4);
|
---|
440 | }
|
---|
441 |
|
---|
442 | static void can0_err_warning_irq(void) {
|
---|
443 | can_err_irq(CAN_0, IRQ_ERROR);
|
---|
444 | }
|
---|
445 |
|
---|
446 | static void can1_err_warning_irq(void) {
|
---|
447 | can_err_irq(CAN_1, IRQ_ERROR);
|
---|
448 | }
|
---|
449 |
|
---|
450 | static void can2_err_warning_irq(void) {
|
---|
451 | can_err_irq(CAN_2, IRQ_ERROR);
|
---|
452 | }
|
---|
453 |
|
---|
454 | static void can3_err_warning_irq(void) {
|
---|
455 | can_err_irq(CAN_3, IRQ_ERROR);
|
---|
456 | }
|
---|
457 |
|
---|
458 | static void can4_err_warning_irq(void) {
|
---|
459 | can_err_irq(CAN_4, IRQ_ERROR);
|
---|
460 | }
|
---|
461 |
|
---|
462 | static void can0_overrun_irq(void) {
|
---|
463 | can_err_irq(CAN_0, IRQ_OVERRUN);
|
---|
464 | }
|
---|
465 |
|
---|
466 | static void can1_overrun_irq(void) {
|
---|
467 | can_err_irq(CAN_1, IRQ_OVERRUN);
|
---|
468 | }
|
---|
469 |
|
---|
470 | static void can2_overrun_irq(void) {
|
---|
471 | can_err_irq(CAN_2, IRQ_OVERRUN);
|
---|
472 | }
|
---|
473 |
|
---|
474 | static void can3_overrun_irq(void) {
|
---|
475 | can_err_irq(CAN_3, IRQ_OVERRUN);
|
---|
476 | }
|
---|
477 |
|
---|
478 | static void can4_overrun_irq(void) {
|
---|
479 | can_err_irq(CAN_4, IRQ_OVERRUN);
|
---|
480 | }
|
---|
481 |
|
---|
482 | static void can0_passive_irq(void) {
|
---|
483 | can_err_irq(CAN_0, IRQ_PASSIVE);
|
---|
484 | }
|
---|
485 |
|
---|
486 | static void can1_passive_irq(void) {
|
---|
487 | can_err_irq(CAN_1, IRQ_PASSIVE);
|
---|
488 | }
|
---|
489 |
|
---|
490 | static void can2_passive_irq(void) {
|
---|
491 | can_err_irq(CAN_2, IRQ_PASSIVE);
|
---|
492 | }
|
---|
493 |
|
---|
494 | static void can3_passive_irq(void) {
|
---|
495 | can_err_irq(CAN_3, IRQ_PASSIVE);
|
---|
496 | }
|
---|
497 |
|
---|
498 | static void can4_passive_irq(void) {
|
---|
499 | can_err_irq(CAN_4, IRQ_PASSIVE);
|
---|
500 | }
|
---|
501 |
|
---|
502 | static void can0_arb_lost_irq(void) {
|
---|
503 | can_err_irq(CAN_0, IRQ_ARB);
|
---|
504 | }
|
---|
505 |
|
---|
506 | static void can1_arb_lost_irq(void) {
|
---|
507 | can_err_irq(CAN_1, IRQ_ARB);
|
---|
508 | }
|
---|
509 |
|
---|
510 | static void can2_arb_lost_irq(void) {
|
---|
511 | can_err_irq(CAN_2, IRQ_ARB);
|
---|
512 | }
|
---|
513 |
|
---|
514 | static void can3_arb_lost_irq(void) {
|
---|
515 | can_err_irq(CAN_3, IRQ_ARB);
|
---|
516 | }
|
---|
517 |
|
---|
518 | static void can4_arb_lost_irq(void) {
|
---|
519 | can_err_irq(CAN_4, IRQ_ARB);
|
---|
520 | }
|
---|
521 |
|
---|
522 | static void can0_bus_err_irq(void) {
|
---|
523 | can_err_irq(CAN_0, IRQ_BUS);
|
---|
524 | }
|
---|
525 |
|
---|
526 | static void can1_bus_err_irq(void) {
|
---|
527 | can_err_irq(CAN_1, IRQ_BUS);
|
---|
528 | }
|
---|
529 |
|
---|
530 | static void can2_bus_err_irq(void) {
|
---|
531 | can_err_irq(CAN_2, IRQ_BUS);
|
---|
532 | }
|
---|
533 |
|
---|
534 | static void can3_bus_err_irq(void) {
|
---|
535 | can_err_irq(CAN_3, IRQ_BUS);
|
---|
536 | }
|
---|
537 |
|
---|
538 | static void can4_bus_err_irq(void) {
|
---|
539 | can_err_irq(CAN_4, IRQ_BUS);
|
---|
540 | }
|
---|
541 |
|
---|
542 | void can_init(can_t *obj, PinName rd, PinName td) {
|
---|
543 | __IO uint32_t *dmy_ctr;
|
---|
544 |
|
---|
545 | /* determine the CAN to use */
|
---|
546 | uint32_t can_rx = pinmap_peripheral(rd, PinMap_CAN_RD);
|
---|
547 | uint32_t can_tx = pinmap_peripheral(td, PinMap_CAN_TD);
|
---|
548 | obj->ch = pinmap_merge(can_tx, can_rx);
|
---|
549 | MBED_ASSERT((int)obj->ch != NC);
|
---|
550 |
|
---|
551 | /* enable CAN clock */
|
---|
552 | CPGSTBCR3 &= ~(CPG_STBCR3_BIT_MSTP32);
|
---|
553 | /* Has CAN RAM initialisation completed ? */
|
---|
554 | while ((RSCAN0GSTS & 0x08) == 0x08) {
|
---|
555 | __NOP();
|
---|
556 | }
|
---|
557 | /* clear Global Stop mode bit */
|
---|
558 | RSCAN0GCTR &= 0xFFFFFFFB;
|
---|
559 | /* clear Channel Stop mode bit */
|
---|
560 | dmy_ctr = CTR_MATCH[obj->ch];
|
---|
561 | *dmy_ctr &= 0xFFFFFFFB;
|
---|
562 | /* Enter global reset mode */
|
---|
563 | can_set_global_mode(GL_RESET);
|
---|
564 | /* Enter channel reset mode */
|
---|
565 | can_set_channel_mode(obj->ch, CH_RESET);
|
---|
566 | /* reset register */
|
---|
567 | can_reset_reg(obj);
|
---|
568 |
|
---|
569 | can_initialized[obj->ch] = 1;
|
---|
570 | /* reconfigure channel which is already initialized */
|
---|
571 | can_reconfigure_channel();
|
---|
572 |
|
---|
573 | /* pin out the can pins */
|
---|
574 | pinmap_pinout(rd, PinMap_CAN_RD);
|
---|
575 | pinmap_pinout(td, PinMap_CAN_TD);
|
---|
576 | }
|
---|
577 |
|
---|
578 | void can_free(can_t *obj) {
|
---|
579 | /* disable CAN clock */
|
---|
580 | CPGSTBCR3 |= CPG_STBCR3_BIT_MSTP32;
|
---|
581 | }
|
---|
582 |
|
---|
583 | int can_frequency(can_t *obj, int f) {
|
---|
584 | __IO uint32_t *dmy_cfcc;
|
---|
585 | int retval = 0;
|
---|
586 |
|
---|
587 | if (f <= 1000000) {
|
---|
588 | /* less than 1Mhz */
|
---|
589 | /* set Channel Reset mode */
|
---|
590 | can_set_channel_mode(obj->ch, CH_RESET);
|
---|
591 | can_set_frequency(obj, f);
|
---|
592 | /* set Channel Communication mode */
|
---|
593 | can_set_channel_mode(obj->ch, CH_COMM);
|
---|
594 | /* restore CFE bit since it is cleared */
|
---|
595 | /* Use send/receive FIFO buffer */
|
---|
596 | dmy_cfcc = CFCC_TBL[obj->ch][CAN_SEND];
|
---|
597 | *dmy_cfcc |= 0x01;
|
---|
598 | dmy_cfcc = CFCC_TBL[obj->ch][CAN_RECV];
|
---|
599 | *dmy_cfcc |= 0x01;
|
---|
600 | retval = 1;
|
---|
601 | }
|
---|
602 |
|
---|
603 | return retval;
|
---|
604 | }
|
---|
605 |
|
---|
606 | void can_reset(can_t *obj) {
|
---|
607 | /* Enter global reset mode */
|
---|
608 | can_set_global_mode(GL_RESET);
|
---|
609 | /* Enter channel reset mode */
|
---|
610 | can_set_channel_mode(obj->ch, CH_RESET);
|
---|
611 | /* reset register */
|
---|
612 | can_reset_reg(obj);
|
---|
613 | /* reconfigure channel which is already initialized */
|
---|
614 | can_reconfigure_channel();
|
---|
615 | }
|
---|
616 |
|
---|
617 | int can_write(can_t *obj, CAN_Message msg, int cc) {
|
---|
618 | __IO uint32_t *dmy_sts;
|
---|
619 | __IO uint32_t *dmy_cfsts;
|
---|
620 | __IO uint32_t *dmy_cfid;
|
---|
621 | __IO uint32_t *dmy_cfptr;
|
---|
622 | __IO uint32_t *dmy_cfdf0;
|
---|
623 | __IO uint32_t *dmy_cfdf1;
|
---|
624 | __IO uint32_t *dmy_cfpctr;
|
---|
625 | int retval = 0;
|
---|
626 |
|
---|
627 | /* Wait to become channel communication mode */
|
---|
628 | dmy_sts = STS_MATCH[obj->ch];
|
---|
629 | while ((*dmy_sts & 0x07) != 0) {
|
---|
630 | __NOP();
|
---|
631 | }
|
---|
632 |
|
---|
633 | if (((msg.format == CANStandard) && (msg.id <= 0x07FF)) || ((msg.format == CANExtended) && (msg.id <= 0x03FFFF))) {
|
---|
634 | /* send/receive FIFO buffer isn't full */
|
---|
635 | dmy_cfsts = CFSTS_TBL[obj->ch][CAN_SEND];
|
---|
636 | if ((*dmy_cfsts & 0x02) != 0x02) {
|
---|
637 | /* set format, frame type and send/receive FIFO buffer ID(b10-0 or b28-11) */
|
---|
638 | dmy_cfid = CFID_TBL[obj->ch][CAN_SEND];
|
---|
639 | *dmy_cfid = ((msg.format << 31) | (msg.type << 30));
|
---|
640 | if (msg.format == CANStandard) {
|
---|
641 | *dmy_cfid |= (msg.id & 0x07FF);
|
---|
642 | } else {
|
---|
643 | *dmy_cfid |= ((msg.id & 0x03FFFF) << 11);
|
---|
644 | }
|
---|
645 | /* set length */
|
---|
646 | dmy_cfptr = CFPTR_TBL[obj->ch][CAN_SEND];
|
---|
647 | *dmy_cfptr = msg.len << 28;
|
---|
648 | /* set data */
|
---|
649 | dmy_cfdf0 = CFDF0_TBL[obj->ch][CAN_SEND];
|
---|
650 | memcpy((void *)dmy_cfdf0, &msg.data[0], 4);
|
---|
651 | dmy_cfdf1 = CFDF1_TBL[obj->ch][CAN_SEND];
|
---|
652 | memcpy((void *)dmy_cfdf1, &msg.data[4], 4);
|
---|
653 | /* send request */
|
---|
654 | dmy_cfpctr = CFPCTR_TBL[obj->ch][CAN_SEND];
|
---|
655 | *dmy_cfpctr = 0xFF;
|
---|
656 | retval = 1;
|
---|
657 | }
|
---|
658 | }
|
---|
659 |
|
---|
660 | return retval;
|
---|
661 | }
|
---|
662 |
|
---|
663 | int can_read(can_t *obj, CAN_Message *msg, int handle) {
|
---|
664 | __IO uint32_t *dmy_sts;
|
---|
665 | __IO uint32_t *dmy_cfsts;
|
---|
666 | __IO uint32_t *dmy_cfid;
|
---|
667 | __IO uint32_t *dmy_cfptr;
|
---|
668 | __IO uint32_t *dmy_cfdf0;
|
---|
669 | __IO uint32_t *dmy_cfdf1;
|
---|
670 | __IO uint32_t *dmy_cfpctr;
|
---|
671 | int retval = 0;
|
---|
672 |
|
---|
673 | /* Wait to become channel communication mode */
|
---|
674 | dmy_sts = STS_MATCH[obj->ch];
|
---|
675 | while ((*dmy_sts & 0x07) != 0) {
|
---|
676 | __NOP();
|
---|
677 | }
|
---|
678 |
|
---|
679 | /* send/receive FIFO buffer isn't empty */
|
---|
680 | dmy_cfsts = CFSTS_TBL[obj->ch][CAN_RECV];
|
---|
681 | while ((*dmy_cfsts & 0x01) != 0x01) {
|
---|
682 | /* get format, frame type and send/receive FIFO buffer ID(b10-0 or b28-11) */
|
---|
683 | dmy_cfid = CFID_TBL[obj->ch][CAN_RECV];
|
---|
684 | msg->format = (CANFormat)(*dmy_cfid >> 31);
|
---|
685 | msg->type = (CANType)(*dmy_cfid >> 30);
|
---|
686 | if (msg->format == CANStandard) {
|
---|
687 | msg->id = (*dmy_cfid & 0x07FF);
|
---|
688 | } else {
|
---|
689 | msg->id = ((*dmy_cfid >> 11) & 0x03FFFF);
|
---|
690 | }
|
---|
691 | /* get length */
|
---|
692 | dmy_cfptr = CFPTR_TBL[obj->ch][CAN_RECV];
|
---|
693 | msg->len = (unsigned char)(*dmy_cfptr >> 28);
|
---|
694 | /* get data */
|
---|
695 | dmy_cfdf0 = CFDF0_TBL[obj->ch][CAN_RECV];
|
---|
696 | memcpy(&msg->data[0], (void *)dmy_cfdf0, 4);
|
---|
697 | dmy_cfdf1 = CFDF1_TBL[obj->ch][CAN_RECV];
|
---|
698 | memcpy(&msg->data[4], (void *)dmy_cfdf1, 4);
|
---|
699 | /* receive(next data) request */
|
---|
700 | dmy_cfpctr = CFPCTR_TBL[obj->ch][CAN_RECV];
|
---|
701 | *dmy_cfpctr = 0xFF;
|
---|
702 | retval = 1;
|
---|
703 | }
|
---|
704 |
|
---|
705 | return retval;
|
---|
706 | }
|
---|
707 |
|
---|
708 | unsigned char can_rderror(can_t *obj) {
|
---|
709 | __IO uint32_t *dmy_sts;
|
---|
710 |
|
---|
711 | dmy_sts = STS_MATCH[obj->ch];
|
---|
712 | return (unsigned char)((*dmy_sts >> 16) & 0xFF);
|
---|
713 | }
|
---|
714 |
|
---|
715 | unsigned char can_tderror(can_t *obj) {
|
---|
716 | __IO uint32_t *dmy_sts;
|
---|
717 |
|
---|
718 | dmy_sts = STS_MATCH[obj->ch];
|
---|
719 | return (unsigned char)((*dmy_sts >> 24) & 0xFF);
|
---|
720 | }
|
---|
721 |
|
---|
722 | int can_mode(can_t *obj, CanMode mode) {
|
---|
723 | __IO uint32_t *dmy_ctr;
|
---|
724 | __IO uint32_t *dmy_sts;
|
---|
725 | __IO uint32_t *dmy_cfcc;
|
---|
726 | int ch_cnt;
|
---|
727 | can_t *tmp_obj;
|
---|
728 | tmp_obj = obj;
|
---|
729 | int retval = 1;
|
---|
730 |
|
---|
731 | switch (mode) {
|
---|
732 | case MODE_RESET:
|
---|
733 | can_set_global_mode(GL_RESET);
|
---|
734 | can_set_channel_mode(obj->ch, CH_RESET);
|
---|
735 | for (ch_cnt = 0; ch_cnt < CAN_NUM; ch_cnt++) {
|
---|
736 | can_initialized[ch_cnt] = 0;
|
---|
737 | }
|
---|
738 | break;
|
---|
739 | case MODE_NORMAL:
|
---|
740 | can_set_global_mode(GL_OPE);
|
---|
741 | can_set_channel_mode(obj->ch, CH_COMM);
|
---|
742 | break;
|
---|
743 | case MODE_SILENT:
|
---|
744 | can_set_channel_mode(obj->ch, CH_HOLD);
|
---|
745 | /* set listen only mode, enable communication test mode */
|
---|
746 | dmy_ctr = CTR_MATCH[obj->ch];
|
---|
747 | *dmy_ctr = ((*dmy_ctr & 0x00FFFFFF) | 0x03000000);
|
---|
748 | can_set_channel_mode(obj->ch, CH_COMM);
|
---|
749 | break;
|
---|
750 | case MODE_TEST_LOCAL:
|
---|
751 | can_set_channel_mode(obj->ch, CH_HOLD);
|
---|
752 | /* set self test mode 0, enable communication test mode */
|
---|
753 | dmy_ctr = CTR_MATCH[obj->ch];
|
---|
754 | *dmy_ctr = ((*dmy_ctr & 0x00FFFFFF) | 0x05000000);
|
---|
755 | can_set_channel_mode(obj->ch, CH_COMM);
|
---|
756 | break;
|
---|
757 | case MODE_TEST_GLOBAL:
|
---|
758 | /* set the channel between the communication test on channel 1 and channel 2 */
|
---|
759 | /* set Channel Hold mode */
|
---|
760 | for (tmp_obj->ch = CAN_1; tmp_obj->ch <= CAN_2; tmp_obj->ch++) {
|
---|
761 | dmy_sts = STS_MATCH[tmp_obj->ch];
|
---|
762 | if ((*dmy_sts & 0x04) == 0x04) {
|
---|
763 | /* Channel Stop mode */
|
---|
764 | /* clear Channel Stop mode bit */
|
---|
765 | dmy_ctr = CTR_MATCH[tmp_obj->ch];
|
---|
766 | *dmy_ctr &= 0xFFFFFFFB;
|
---|
767 | can_set_channel_mode(tmp_obj->ch, CH_RESET);
|
---|
768 | }
|
---|
769 | can_set_channel_mode(tmp_obj->ch, CH_HOLD);
|
---|
770 | }
|
---|
771 | can_set_global_mode(GL_TEST);
|
---|
772 | /* enable communication test between channel1 and channel2 */
|
---|
773 | RSCAN0GTSTCFG = 0x06;
|
---|
774 | RSCAN0GTSTCTR = 0x01;
|
---|
775 | /* send and receive setting of channel1 and channel2 */
|
---|
776 | for (tmp_obj->ch = CAN_1; tmp_obj->ch <= CAN_2; tmp_obj->ch++) {
|
---|
777 | can_reset_buffer(tmp_obj);
|
---|
778 | /* set global interrrupt */
|
---|
779 | /* THLEIE, MEIE and DEIE interrupts are disable */
|
---|
780 | RSCAN0GCTR &= 0xFFFFF8FF;
|
---|
781 | /* BLIE, OLIE, BORIE and BOEIE interrupts are disable */
|
---|
782 | /* TAIE, ALIE, EPIE, EWIE and BEIE interrupts are enable */
|
---|
783 | dmy_ctr = CTR_MATCH[tmp_obj->ch];
|
---|
784 | *dmy_ctr &= 0x00018700;
|
---|
785 | can_set_global_mode(GL_OPE);
|
---|
786 | can_set_channel_mode(tmp_obj->ch, CH_COMM);
|
---|
787 | /* Use send/receive FIFO buffer */
|
---|
788 | dmy_cfcc = CFCC_TBL[tmp_obj->ch][CAN_SEND];
|
---|
789 | *dmy_cfcc |= 0x01;
|
---|
790 | dmy_cfcc = CFCC_TBL[tmp_obj->ch][CAN_RECV];
|
---|
791 | *dmy_cfcc |= 0x01;
|
---|
792 | }
|
---|
793 | break;
|
---|
794 | case MODE_TEST_SILENT:
|
---|
795 | /* not supported */
|
---|
796 | /* fall through */
|
---|
797 | default:
|
---|
798 | retval = 0;
|
---|
799 | break;
|
---|
800 | }
|
---|
801 |
|
---|
802 | return retval;
|
---|
803 | }
|
---|
804 |
|
---|
805 | int can_filter(can_t *obj, uint32_t id, uint32_t mask, CANFormat format, int32_t handle) {
|
---|
806 | int retval = 0;
|
---|
807 |
|
---|
808 | if ((format == CANStandard) || (format == CANExtended)) {
|
---|
809 | if (((format == CANStandard) && (id <= 0x07FF)) || ((format == CANExtended) && (id <= 0x03FFFF))) {
|
---|
810 | /* set Global Reset mode and Channel Reset mode */
|
---|
811 | can_set_global_mode(GL_RESET);
|
---|
812 | can_set_channel_mode(obj->ch, CH_RESET);
|
---|
813 | /* enable receive rule table writing */
|
---|
814 | RSCAN0GAFLECTR = 0x00000100;
|
---|
815 | /* set the page number of receive rule table(page number = 0) */
|
---|
816 | RSCAN0GAFLECTR |= (obj->ch * 4);
|
---|
817 | /* set IDE format */
|
---|
818 | *dmy_gaflid = (format << 31);
|
---|
819 | if (format == CANExtended) {
|
---|
820 | /* set receive rule ID for bit28-11 */
|
---|
821 | *dmy_gaflid |= (id << 11);
|
---|
822 | } else {
|
---|
823 | /* set receive rule ID for bit10-0 */
|
---|
824 | *dmy_gaflid |= id;
|
---|
825 | }
|
---|
826 | /* set ID mask bit */
|
---|
827 | *dmy_gaflm = (0xC0000000 | mask);
|
---|
828 | /* disable receive rule table writing */
|
---|
829 | RSCAN0GAFLECTR &= 0xFFFFFEFF;
|
---|
830 | /* reconfigure channel which is already initialized */
|
---|
831 | can_reconfigure_channel();
|
---|
832 | retval = 1;
|
---|
833 | }
|
---|
834 | }
|
---|
835 |
|
---|
836 | return retval;
|
---|
837 | }
|
---|
838 |
|
---|
839 | void can_monitor(can_t *obj, int silent) {
|
---|
840 | __IO uint32_t *dmy_ctr;
|
---|
841 |
|
---|
842 | /* set Channel Hold mode */
|
---|
843 | can_set_channel_mode(obj->ch, CH_HOLD);
|
---|
844 | if (silent) {
|
---|
845 | /* set listen only mode, enable communication test mode */
|
---|
846 | dmy_ctr = CTR_MATCH[obj->ch];
|
---|
847 | *dmy_ctr = ((*dmy_ctr & 0x00FFFFFF) | 0x03000000);
|
---|
848 | can_set_channel_mode(obj->ch, CH_COMM);
|
---|
849 | } else {
|
---|
850 | /* set normal test mode, disable communication test mode */
|
---|
851 | dmy_ctr = CTR_MATCH[obj->ch];
|
---|
852 | *dmy_ctr &= 0x00FFFFFF;
|
---|
853 | /* reset register */
|
---|
854 | can_reset_reg(obj);
|
---|
855 | /* reconfigure channel which is already initialized */
|
---|
856 | can_reconfigure_channel();
|
---|
857 | }
|
---|
858 | }
|
---|
859 |
|
---|
860 | static void can_reset_reg(can_t *obj) {
|
---|
861 | __IO uint32_t *dmy_ctr;
|
---|
862 |
|
---|
863 | /* time stamp source uses peripheral clock (pclk(P1_phi)/2), CAN clock uses clkc(P1_phi/2), */
|
---|
864 | /* mirror off, DLC not transfer, DLC check permit, transmit buffer priority, clock source not divided */
|
---|
865 | RSCAN0GCFG = 0x00000003;
|
---|
866 | /* set default frequency at 100k */
|
---|
867 | can_set_frequency(obj, 100000);
|
---|
868 | /* set receive rule */
|
---|
869 | can_reset_recv_rule(obj);
|
---|
870 | /* set buffer */
|
---|
871 | can_reset_buffer(obj);
|
---|
872 | /* set global interrrupt */
|
---|
873 | /* THLEIE, MEIE and DEIE interrupts are disable */
|
---|
874 | RSCAN0GCTR &= 0xFFFFF8FF;
|
---|
875 | /* ALIE, BLIE, OLIE, BORIE, BOEIE, EPIE, EWIE and BEIE interrupts are disable */
|
---|
876 | dmy_ctr = CTR_MATCH[obj->ch];
|
---|
877 | *dmy_ctr &= 0xFFFF00FF;
|
---|
878 | }
|
---|
879 |
|
---|
880 | static void can_reset_recv_rule(can_t *obj) {
|
---|
881 | /* number of receive rules of each chanel = 64 */
|
---|
882 | RSCAN0GAFLCFG0 = 0x40404040;
|
---|
883 | RSCAN0GAFLCFG1 = 0x40000000;
|
---|
884 | /* enable receive rule table writing */
|
---|
885 | RSCAN0GAFLECTR = 0x00000100;
|
---|
886 | /* set the page number of receive rule table(ex: id ch = 1, page number = 4) */
|
---|
887 | RSCAN0GAFLECTR |= (obj->ch * 4);
|
---|
888 | /* set standard ID, data frame and receive rule ID */
|
---|
889 | *dmy_gaflid = 0x07FF;
|
---|
890 | /* IDE bit, RTR bit and ID bit(28-0) are not compared */
|
---|
891 | *dmy_gaflm = 0;
|
---|
892 | /* DLC check is 1 bytes, not use a receive buffer */
|
---|
893 | *dmy_gaflp0 = 0x10000000;
|
---|
894 | /* use a send/receive FIFO buffer(ex: if ch = 1, FIFO buffer number = 4 and bit = 12) */
|
---|
895 | *dmy_gaflp1 = (1 << ((obj->ch + 3) * 3));
|
---|
896 | /* disable receive rule table writing */
|
---|
897 | RSCAN0GAFLECTR &= 0xFFFFFEFF;
|
---|
898 | }
|
---|
899 |
|
---|
900 | static void can_reset_buffer(can_t *obj) {
|
---|
901 | __IO uint32_t *dmy_rfcc;
|
---|
902 | __IO uint32_t *dmy_cfcc;
|
---|
903 | __IO uint32_t *dmy_txqcc;
|
---|
904 | __IO uint32_t *dmy_thlcc;
|
---|
905 | int cnt;
|
---|
906 |
|
---|
907 | /* set linked send buffer number(ex: if ch = 1 and mode = send, buffer number = 16), interval timer is pclk/2 */
|
---|
908 | /* number of rows of send/receive FIFO buffer = 4 */
|
---|
909 | dmy_cfcc = CFCC_TBL[obj->ch][CAN_SEND];
|
---|
910 | *dmy_cfcc = 0x00011100; /* send/receive FIFO mode is send */
|
---|
911 | dmy_cfcc = CFCC_TBL[obj->ch][CAN_RECV];
|
---|
912 | *dmy_cfcc = 0x00001100; /* send/receive FIFO mode is receive */
|
---|
913 | /* receive buffer is not used */
|
---|
914 | RSCAN0RMNB = 0;
|
---|
915 | /* receive FIFO buffer is not used */
|
---|
916 | for (cnt = 0; cnt < 8; cnt++) {
|
---|
917 | dmy_rfcc = RFCC_MATCH[cnt];
|
---|
918 | *dmy_rfcc = 0;
|
---|
919 | }
|
---|
920 | /* send queue is not used */
|
---|
921 | dmy_txqcc = TXQCC_MATCH[obj->ch];
|
---|
922 | *dmy_txqcc = 0;
|
---|
923 | /* send history is not used */
|
---|
924 | dmy_thlcc = THLCC_MATCH[obj->ch];
|
---|
925 | *dmy_thlcc = 0;
|
---|
926 |
|
---|
927 | /* CFTXIE and CFRXIE interrupts are enable */
|
---|
928 | dmy_cfcc = CFCC_TBL[obj->ch][CAN_SEND];
|
---|
929 | *dmy_cfcc |= 0x04;
|
---|
930 | dmy_cfcc = CFCC_TBL[obj->ch][CAN_RECV];
|
---|
931 | *dmy_cfcc |= 0x02;
|
---|
932 | /* TMIEp interrupt is disable */
|
---|
933 | RSCAN0TMIEC0 = 0x00000000;
|
---|
934 | RSCAN0TMIEC1 = 0x00000000;
|
---|
935 | RSCAN0TMIEC2 = 0x00000000;
|
---|
936 | }
|
---|
937 |
|
---|
938 | static void can_reconfigure_channel(void) {
|
---|
939 | __IO uint32_t *dmy_cfcc;
|
---|
940 | int ch_cnt;
|
---|
941 |
|
---|
942 | for (ch_cnt = 0; ch_cnt < CAN_NUM; ch_cnt++) {
|
---|
943 | if (can_initialized[ch_cnt] == 1) {
|
---|
944 | /* set Global Operation mode and Channel Communication mode */
|
---|
945 | can_set_global_mode(GL_OPE);
|
---|
946 | can_set_channel_mode(ch_cnt, CH_COMM);
|
---|
947 | /* Use send/receive FIFO buffer */
|
---|
948 | dmy_cfcc = CFCC_TBL[ch_cnt][CAN_SEND];
|
---|
949 | *dmy_cfcc |= 0x01;
|
---|
950 | dmy_cfcc = CFCC_TBL[ch_cnt][CAN_RECV];
|
---|
951 | *dmy_cfcc |= 0x01;
|
---|
952 | }
|
---|
953 | }
|
---|
954 | }
|
---|
955 |
|
---|
956 | static void can_set_frequency(can_t *obj, int f) {
|
---|
957 | __IO uint32_t *dmy_cfg;
|
---|
958 | int oldfreq = 0;
|
---|
959 | int newfreq = 0;
|
---|
960 | uint32_t clkc_val;
|
---|
961 | uint8_t tmp_tq;
|
---|
962 | uint8_t tq = 0;
|
---|
963 | uint8_t tmp_brp;
|
---|
964 | uint8_t brp = 0;
|
---|
965 | uint8_t tseg1 = 0;
|
---|
966 | uint8_t tseg2 = 0;
|
---|
967 |
|
---|
968 | /* set clkc */
|
---|
969 | if (RZ_A1_IsClockMode0() == false) {
|
---|
970 | clkc_val = CM1_RENESAS_RZ_A1_P1_CLK / 2;
|
---|
971 | } else {
|
---|
972 | clkc_val = CM0_RENESAS_RZ_A1_P1_CLK / 2;
|
---|
973 | }
|
---|
974 | /* calculate BRP bit and Choose max value of calculated frequency */
|
---|
975 | for (tmp_tq = 8; tmp_tq <= 25; tmp_tq++) {
|
---|
976 | /* f = fCAN / ((BRP+1) * Tq) */
|
---|
977 | /* BRP = (fCAN / (f * Tq)) - 1 */
|
---|
978 | tmp_brp = ((clkc_val / (f * tmp_tq)) - 1) + 1; // carry(decimal point is carry)
|
---|
979 | newfreq = clkc_val / ((tmp_brp + 1) * tmp_tq);
|
---|
980 | if (newfreq >= oldfreq) {
|
---|
981 | oldfreq = newfreq;
|
---|
982 | tq = tmp_tq;
|
---|
983 | brp = tmp_brp;
|
---|
984 | }
|
---|
985 | }
|
---|
986 | /* calculate TSEG1 bit and TSEG2 bit */
|
---|
987 | tseg1 = (tq - 1) * 0.666666667;
|
---|
988 | tseg2 = (tq - 1) - tseg1;
|
---|
989 | /* set RSCAN0CmCFG register */
|
---|
990 | dmy_cfg = CFG_MATCH[obj->ch];
|
---|
991 | *dmy_cfg = ((tseg2 - 1) << 20) | ((tseg1 - 1) << 16) | brp;
|
---|
992 | }
|
---|
993 |
|
---|
994 | static void can_set_global_mode(int mode) {
|
---|
995 | /* set Global mode */
|
---|
996 | RSCAN0GCTR = ((RSCAN0GCTR & 0xFFFFFFFC) | mode);
|
---|
997 | /* Wait to cahnge into Global XXXX mode */
|
---|
998 | while ((RSCAN0GSTS & 0x07) != mode) {
|
---|
999 | __NOP();
|
---|
1000 | }
|
---|
1001 | }
|
---|
1002 |
|
---|
1003 | static void can_set_channel_mode(uint32_t ch, int mode) {
|
---|
1004 | __IO uint32_t *dmy_ctr;
|
---|
1005 | __IO uint32_t *dmy_sts;
|
---|
1006 |
|
---|
1007 | /* set Channel mode */
|
---|
1008 | dmy_ctr = CTR_MATCH[ch];
|
---|
1009 | *dmy_ctr = ((*dmy_ctr & 0xFFFFFFFC) | mode);
|
---|
1010 | /* Wait to cahnge into Channel XXXX mode */
|
---|
1011 | dmy_sts = STS_MATCH[ch];
|
---|
1012 | while ((*dmy_sts & 0x07) != mode) {
|
---|
1013 | __NOP();
|
---|
1014 | }
|
---|
1015 | }
|
---|
1016 |
|
---|