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source: rc_autosar_rh850/trunk/driver/rscan.c@ 113

Last change on this file since 113 was 113, checked in by ertl-honda, 9 years ago
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File size: 11.9 KB

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[113]	1	/*
	2	* TOPPERS Software
	3	* Toyohashi Open Platform for Embedded Real-Time Systems
	4	* Software
	5	*
	6	* Copyright (C) 2015 by Center for Embedded Computing Systems
	7	* Graduate School of Information Science, Nagoya Univ., JAPAN
	8	*
	9	* ãLì ÒÍCÈºÌ(1)`(4)Ìðð½·êÉÀèC{\tgEF
	10	* Ai{\tgEFAðüÏµ½àÌðÜÞDÈº¯¶jðgpE¡»Eü
	11	* ÏEÄzziÈºCpÆÄÔj·é±Æð³Åø·éD
	12	* (1) {\tgEFAð\[XR[hÌ`Åp·éêÉÍCãLÌì
	13	* \¦C±Ìpð¨æÑºLÌ³ÛØKèªC»ÌÜÜÌ`Å\[
	14	* XR[hÉÜÜêÄ¢é±ÆD
	15	* (2) {\tgEFAðCCu`®ÈÇC¼Ì\tgEFAJÉg
	16	* pÅ«é`ÅÄzz·éêÉÍCÄzzÉº¤hL
	17	gip
	18	* Ò}j
	19	AÈÇjÉCãLÌì \¦C±Ìpð¨æÑºL
	20	* Ì³ÛØKèðfÚ·é±ÆD
	21	* (3) {\tgEFAðC@íÉgÝÞÈÇC¼Ì\tgEFAJÉg
	22	* pÅ«È¢`ÅÄzz·éêÉÍCÌ¢¸ê©Ìðð½·±
	23	* ÆD
	24	* (a) ÄzzÉº¤hL
	25	gipÒ}j
	26	AÈÇjÉCãLÌ
	27	* ì \¦C±Ìpð¨æÑºLÌ³ÛØKèðfÚ·é±ÆD
	28	* (b) ÄzzÌ`ÔðCÊÉèßéû@ÉæÁÄCTOPPERSvWFNgÉ
	29	* ñ·é±ÆD
	30	* (4) {\tgEFAÌpÉæè¼ÚIÜ½ÍÔÚIÉ¶¶é¢©Èé¹
	31	* Q©çàCãLì Ò¨æÑTOPPERSvWFNgðÆÓ·é±ÆD
	32	* Ü½C{\tgEFAÌ[UÜ½ÍGh[U©çÌ¢©Èé
	33	* RÉîÃ¿©çàCãLì Ò¨æÑTOPPERSvWFNgð
	34	* ÆÓ·é±ÆD
	35	*
	36	* {\tgEFAÍCAUTOSARiAUTomotive Open System ARchitecturejd
	37	* lÉîÃ¢Ä¢éDãLÌøÍCAUTOSARÌmIàY ðø·éàÌÅ
	38	* ÍÈ¢DAUTOSARÍCAUTOSARdlÉîÃ¢½\tgEFAð¤pÚIÅ
	39	* p·éÒÉÎµÄCAUTOSARp[gi[ÉÈé±ÆðßÄ¢éD
	40	*
	41	* {\tgEFAÍC³ÛØÅñ³êÄ¢éàÌÅ éDãLì Ò¨
	42	* æÑTOPPERSvWFNgÍC{\tgEFAÉÖµÄCÁèÌgpÚI
	43	* ÉÎ·éK«àÜßÄC¢©ÈéÛØàsíÈ¢DÜ½C{\tgEF
	44	* AÌpÉæè¼ÚIÜ½ÍÔÚIÉ¶¶½¢©Èé¹QÉÖµÄàC»
	45	* ÌÓCðíÈ¢D
	46	*
	47	* $Id: fcan.c 330 2013-08-14 14:12:18Z honda $
	48	*/
	49
	50	/*
	51	* î{ûj
	52	* EÝðgpµÈ¢
	53	* E`lÌobt@Í[{bNXÆ\»µÄ0©çÌÔÆµÄµ¤
	54	*
	55	* M
	56	* EMobt@(16Â)ðp¢ÄÊM
	57	*
	58	* óM
	59	* EóMobt@(16Â)ðp¢ÄÊM
	60	* EóM[Í16Â
	61	*/
	62	#include "Os.h"
	63	#include "rscan.h"
	64	#include "t_syslog.h"
	65	#include "t_stdlib.h"
	66	#include "sysmod/serial.h"
	67	#include "sysmod/syslog.h"
	68
	69
	70	/*
	71	* èè`
	72	*/
	73	#define TNUM_RX_BUFF 16U
	74
	75	/* Mobt@Ô */
	76	#define CAN_TX_BUFF_NO(ch, id) ((ch) * 16U + id)
	77
	78	/* óMobt@Ô */
	79	#define CAN_RX_BUFF_NO(ch, id) ((ch) * TNUM_RX_BUFF + id)
	80
	81	/* óM[ */
	82	#define TNUM_RXRULE 16U
	83
	84
	85	/* rbgìp */
	86	#define CAN_BIT0 0x00000001U
	87	#define CAN_BIT1 0x00000002U
	88	#define CAN_BIT2 0x00000004U
	89	#define CAN_BIT3 0x00000008U
	90	#define CAN_BIT4 0x00000010U
	91	#define CAN_BIT5 0x00000020U
	92	#define CAN_BIT6 0x00000040U
	93	#define CAN_BIT7 0x00000080U
	94	#define CAN_BIT8 0x00000100U
	95	#define CAN_BIT9 0x00000200U
	96	#define CAN_BIT10 0x00000400U
	97	#define CAN_BIT11 0x00000800U
	98	#define CAN_BIT12 0x00001000U
	99	#define CAN_BIT13 0x00002000U
	100	#define CAN_BIT14 0x00004000U
	101	#define CAN_BIT15 0x00008000U
	102	#define CAN_BIT16 0x00010000U
	103	#define CAN_BIT17 0x00020000U
	104	#define CAN_BIT18 0x00040000U
	105	#define CAN_BIT19 0x00080000U
	106	#define CAN_BIT20 0x00100000U
	107	#define CAN_BIT21 0x00200000U
	108	#define CAN_BIT22 0x00400000U
	109	#define CAN_BIT23 0x00800000U
	110	#define CAN_BIT24 0x01000000U
	111	#define CAN_BIT25 0x02000000U
	112	#define CAN_BIT26 0x04000000U
	113	#define CAN_BIT27 0x08000000U
	114	#define CAN_BIT28 0x10000000U
	115	#define CAN_BIT29 0x20000000U
	116	#define CAN_BIT30 0x40000000U
	117	#define CAN_BIT31 0x80000000U
	118
	119	/* O[o */
	120	#define RSCAN0GCFG ((volatile uint32 ) (RSCAN0_BASE + 0x0084U))
	121	#define RSCAN0GCTR ((volatile uint32 ) (RSCAN0_BASE + 0x0088U))
	122	#define RSCAN0GSTS ((volatile uint32 ) (RSCAN0_BASE + 0x008CU))
	123	#define RSCAN0GAFLCFG0 ((volatile uint32 ) (RSCAN0_BASE + 0x009CU))
	124	#define RSCAN0GAFLCFG1 ((volatile uint32 ) (RSCAN0_BASE + 0x00A0U))
	125	#define RSCAN0GAFLECTR ((volatile uint32 ) (RSCAN0_BASE + 0x0098U))
	126
	127	/* óMobt@ */
	128	#define RSCAN0RMNB ((volatile uint32 ) (RSCAN0_BASE + 0x00A4U))
	129	#define RSCAN0RMND(y) ((volatile uint32 ) (RSCAN0_BASE + 0x00A8U + ((y) * 0x04)))
	130	#define RSCAN0RMID(id) ((volatile uint32 ) (RSCAN0_BASE + 0x0600U + ((id) * 0x10)))
	131	#define RSCAN0RMPTQ(id) ((volatile uint32 ) (RSCAN0_BASE + 0x0604U + ((id) * 0x10)))
	132	#define RSCAN0RMDF0(id, byte) ((volatile uint8 ) (RSCAN0_BASE + 0x0608U + ((id) * 0x10) + (byte)))
	133	#define RSCAN0RMDF1(id, byte) ((volatile uint8 ) (RSCAN0_BASE + 0x060CU + ((id) * 0x10) + (byte)))
	134
	135	/* `l */
	136	#define RSCAN0CmCFG(ch) ((volatile uint32 ) (RSCAN0_BASE + 0x0000U + ((ch) * 0x10U)))
	137	#define RSCAN0CmCTR(ch) ((volatile uint32 ) (RSCAN0_BASE + 0x0004U + ((ch) * 0x10U)))
	138	#define RSCAN0CmSTS(ch) ((volatile uint32 ) (RSCAN0_BASE + 0x0008U + ((ch) * 0x10U)))
	139	#define RSCAN0THLCC(ch) ((volatile uint32 ) (RSCAN0_BASE + 0x0400U + ((ch) * 0x04U)))
	140
	141	/* óM[ */
	142	#define RSCAN0GAFLID(rule) ((volatile uint32 ) (RSCAN0_BASE + 0x0500U + ((rule) * 0x10U)))
	143	#define RSCAN0GAFLM(rule) ((volatile uint32 ) (RSCAN0_BASE + 0x0504U + ((rule) * 0x10U)))
	144	#define RSCAN0GAFLP0(rule) ((volatile uint32 ) (RSCAN0_BASE + 0x0508U + ((rule) * 0x10U)))
	145	#define RSCAN0GAFLP1(rule) ((volatile uint32 ) (RSCAN0_BASE + 0x050CU + ((rule) * 0x10U)))
	146
	147	/* óMFIFOobt@(óMp) */
	148	#define RSCAN0CFCC(buf_no) ((volatile uint32 ) (RSCAN0_BASE + 0x0118U + ((buf_no) * 0x04U)))
	149	#define RSCAN0CFSTS(buf_no) ((volatile uint32 ) (RSCAN0_BASE + 0x0178U + ((buf_no) * 0x04U)))
	150	#define RSCAN0CFPCTR(buf_no) ((volatile uint32 ) (RSCAN0_BASE + 0x01D8U + ((buf_no) * 0x04U)))
	151	#define RSCAN0CFID(buf_no) ((volatile uint32 ) (RSCAN0_BASE + 0x0E80U + ((buf_no) * 0x10U)))
	152	#define RSCAN0CFPTR(buf_no) ((volatile uint32 ) (RSCAN0_BASE + 0x0E84U + ((buf_no) * 0x10U)))
	153	#define RSCAN0CFDF0(buf_no, byte) ((volatile uint8 ) (RSCAN0_BASE + 0x0E88U + ((buf_no) * 0x10U) + (byte)))
	154	#define RSCAN0CFDF1(buf_no, byte) ((volatile uint8 ) (RSCAN0_BASE + 0x0E8CU + ((buf_no) * 0x10U) + (byte)))
	155
	156	/* Mobt@ */
	157	#define RSCAN0TMC(buf_no) ((volatile uint8 ) (RSCAN0_BASE + 0x0250U + (buf_no)))
	158	#define RSCAN0TMSTS(buf_no) ((volatile uint8 ) (RSCAN0_BASE + 0x02D0U + ((buf_no) * 0x01U)))
	159	#define RSCAN0TMID(buf_no) ((volatile uint32 ) (RSCAN0_BASE + 0x1000U + ((buf_no) * 0x10U)))
	160	#define RSCAN0TMPTR(buf_no) ((volatile uint32 ) (RSCAN0_BASE + 0x1004U + ((buf_no) * 0x10U)))
	161	#define RSCAN0TMDF0(buf_no, byte) ((volatile uint8 ) (RSCAN0_BASE + 0x1008U + ((buf_no) * 0x10U) + (byte)))
	162	#define RSCAN0TMDF1(buf_no, byte) ((volatile uint8 ) (RSCAN0_BASE + 0x100CU + ((buf_no) * 0x10U) + (byte)))
	163
	164
	165	/* ML
	166	[ */
	167	#define RSCAN0TXQCC(ch) ((volatile uint32 ) (RSCAN0_BASE + 0x03A0U + ((ch) * 0x04U)))
	168	#define RSCAN0TXQSTS(ch) ((volatile uint32 ) (RSCAN0_BASE + 0x03C0U + ((ch) * 0x04U)))
	169	#define RSCAN0TXQPCTR(ch) ((volatile uint32 ) (RSCAN0_BASE + 0x03E0U + ((ch) * 0x04U)))
	170
	171	/* Mð */
	172	#define RSCAN0THLSTS(ch) ((volatile uint32 ) (RSCAN0_BASE + 0x0420U + ((ch) * 0x04U)))
	173	#define RSCAN0THLACC(ch) ((volatile uint32 ) (RSCAN0_BASE + 0x1800U + ((ch) * 0x04U)))
	174	#define RSCAN0THLPCTR(ch) ((volatile uint32 ) (RSCAN0_BASE + 0x0440U + ((ch) * 0x04U)))
	175
	176	/* C_ISO_CANOSCNbNªüWX^ */
	177	#define CKSC_ICANOSCD_CTL 0xFFF8AA00U
	178
	179	/* óM[Ýè(ch0`3)p */
	180	#define GAFLCFG0_REG_BIT_SHIFT(ch) (24U - ((ch) * 8U))
	181
	182	/* óM[Ýè(ch4`5)p */
	183	#define GAFLCFG1_REG_BIT_SHIFT(ch) (24U - (((ch) - 4U) * 8U))
	184
	185
	186	STATUS
	187	RsCanInit(uint8 ctrl_id) {
	188	/*
	189	* O[oÈú»
	190	*/
	191	/* CANpRAMNAXe[^XtO`FbN */
	192	if ((RSCAN0GSTS & CAN_BIT3) != 0U) {
	193	return STATUS_ERROR;
	194	}
	195
	196	/* O[oXgbv[hðð */
	197	RSCAN0GCTR &= ~CAN_BIT2;
	198
	199	/* O[oZbg[hÉJÚ */
	200	RSCAN0GCTR \|= CAN_BIT0;
	201
	202	/* CANÅgp·éNbNðCKSCLK_ICANOSC(clk_xincan)ÉÝè */
	203	RSCAN0GCFG \|= CAN_BIT4;
	204
	205	/*
	206	* `lÌú»
	207	*/
	208	/* `lXgbv[hðð */
	209	RSCAN0CmCTR(ctrl_id) &= ~CAN_BIT2;
	210
	211	/* [CAN259] `lZbg[hÉJÚ */
	212	RSCAN0CmCTR(ctrl_id) \|= CAN_BIT0;
	213
	214	/*
	215	* MÝè
	216	*/
	217	/* ML
	218	[ÍgpµÈ¢ */
	219	RSCAN0TXQCC(ctrl_id) = 0x00;
	220
	221	/* Mðobt@ÍgpµÈ¢ */
	222	RSCAN0THLCC(ctrl_id) = 0x00;
	223
	224	/*
	225	* óMÝè
	226	*/
	227	/* Rg[ª4chÈã©»è*/
	228	if (ctrl_id < 4U) {
	229	/* óM[Ýè(ch0`3) */
	230	RSCAN0GAFLCFG0 \|= TNUM_RXRULE << GAFLCFG0_REG_BIT_SHIFT(ctrl_id);
	231	}
	232	else {
	233	/* óM[Ýè(ch4`5) */
	234	RSCAN0GAFLCFG1 \|= TNUM_RXRULE << GAFLCFG1_REG_BIT_SHIFT(ctrl_id);
	235	}
	236
	237	/*
	238	* {[[gÌÝè
	239	*/
	240	/* `lRtBO[VÝè({[[g:500kbps) */
	241	RSCAN0CmCFG(ctrl_id) = RSCAN_BRP_500;
	242
	243	return STATUS_OK;
	244	}
	245
	246
	247	void
	248	RsCanEnable(uint8 ctrl_id){
	249	/* O[oZbg[h©çO[o®ì[hÉJÚ */
	250	RSCAN0GCTR &= ~(CAN_BIT1 \| CAN_BIT0);
	251
	252	/* [CAN261] `lÊM[hÉJÚ */
	253	RSCAN0CmCTR(ctrl_id) &= ~(CAN_BIT1 \| CAN_BIT0);
	254
	255	/* `lÊM[hÉÈéÜÅ[v(#67) */
	256	while ((RSCAN0CmSTS(ctrl_id) &CAN_BIT7) == 0U) {
	257	}
	258
	259	/* óMobt@Ýè */
	260	RSCAN0RMNB = TNUM_RX_BUFF * TNUM_CH;
	261	}
	262
	263	void
	264	RsCanDisable(uint8 ctrl_id) {
	265	/* `lZbg[hÉJÚ */
	266	RSCAN0CmCTR(ctrl_id) &= 0xFFFFFFFDU;
	267	}
	268
	269
	270	STATUS
	271	RsCanSetTxData(uint8 ctrl_id, uint8 mb_id, uint32 id, uint8 *p_data, uint8 len){
	272	uint32 tm_bit;
	273	uint8 i;
	274
	275	/* MÈç^[ */
	276	if((RSCAN0TMSTS(CAN_TX_BUFF_NO(ctrl_id, mb_id)) & CAN_BIT0) == CAN_BIT0) {
	277	return STATUS_SENDING;
	278	}
	279
	280	RSCAN0TMSTS(CAN_TX_BUFF_NO(ctrl_id, mb_id)) = 0;
	281
	282	/* CAN-IDÝè */
	283	RSCAN0TMID(CAN_TX_BUFF_NO(ctrl_id, mb_id)) = id;
	284
	285	/* DLCÆMxîñæ¾ */
	286	tm_bit = (uint32) len << 28U;
	287	tm_bit \|= (uint32) 2 << 16U;
	288
	289	/* DLCÆMxÝè */
	290	RSCAN0TMPTR(CAN_TX_BUFF_NO(ctrl_id, mb_id)) = tm_bit;
	291
	292	/* [CAN059][CAN427] f[^i[ */
	293	/* f[^Ýè(0`3oCg) */
	294	for (i = 0U; i < 4U; i++) {
	295	RSCAN0TMDF0(CAN_TX_BUFF_NO(ctrl_id, mb_id), i) = p_data[i];
	296	}
	297
	298	/* 4oCgÈ~ÌbZ[WL³»è */
	299	if (len > 4U) {
	300	/* f[^Ýè(4`7oCg) */
	301	for (i = 4U; i < len; i++) {
	302	RSCAN0TMDF1(CAN_TX_BUFF_NO(ctrl_id, mb_id), (i - 4U)) = p_data[i];
	303	}
	304	}
	305
	306	/* Mv */
	307	RSCAN0TMC(CAN_TX_BUFF_NO(ctrl_id, mb_id)) = CAN_BIT0;
	308
	309	return STATUS_OK;
	310	}
	311
	312
	313	STATUS
	314	RsCanSetMailBoxInfo(uint8 ctrl_id, uint8 mb_id, uint8 direction,
	315	uint8 ide, uint32 id, uint8 mask, uint32 remote){
	316	static uint8 rx_rule_index_cnt = 0U;
	317	uint8 rx_rule_index;
	318
	319	if(direction == 1) {
	320	return STATUS_ERROR;
	321	}
	322
	323	/* óM[e[u«ÝÂ */
	324	RSCAN0GAFLECTR \|= CAN_BIT8;
	325
	326	/* [ÔÌo */
	327	rx_rule_index = rx_rule_index_cnt % 16U;
	328
	329	/* y[WÔªØèÖíé©»è */
	330	if (rx_rule_index == 0U) {
	331	/* y[WÔðÝè */
	332	RSCAN0GAFLECTR = (CAN_BIT8 \| (uint32) (rx_rule_index_cnt / 16U));
	333	}
	334
	335	/* tB^}XNÝè */
	336	RSCAN0GAFLM(rx_rule_index) = (CAN_BIT31 \| mask);
	337
	338	/* óM[IDÝè(CAN-IDWX^) */
	339	RSCAN0GAFLID(rx_rule_index) = (uint32) id;
	340
	341	/* óM[ðgp·éóMobt@Ìwè */
	342	RSCAN0GAFLP0(rx_rule_index) = (1 << 15U) \| (1 << 16U) \| (mb_id << 8U);
	343
	344	/* óM[CfbNXðCNg */
	345	rx_rule_index_cnt++;
	346
	347	/* óM[e[u«ÝÖ~ */
	348	RSCAN0GAFLECTR &= ~CAN_BIT8;
	349
	350	return STATUS_OK;
	351	}
	352
	353
	354
	355	STATUS
	356	RsCanGetRxData(uint8 ctrl_id, uint8 mb_id, uint8 p_data, uint8 p_len){
	357	uint8 local_dlc;
	358	uint8 i;
	359	uint8 bufid;
	360
	361	bufid = CAN_RX_BUFF_NO(ctrl_id, mb_id);
	362
	363	/* óMµÄ¢é©mF ToDo »óÍß¤¿ */
	364	if((RSCAN0RMND(bufid / 32) & (1U << (bufid % 32))) == 0) {
	365	*p_len = 0;
	366	return STATUS_EMPTY;
	367	}
	368
	369	/* tONA */
	370	RSCAN0RMND(bufid / 32) = ~(1U << (bufid % 32));
	371
	372	local_dlc = (RSCAN0RMPTQ(mb_id) >> 28);
	373	*p_len = local_dlc;
	374
	375	/* f[^i[(0`3oCg) */
	376	for (i = 0U; i < 4U; i++) {
	377	p_data[i] = RSCAN0RMDF0(mb_id, i);
	378	}
	379
	380	/* f[^ª4byteÈã©»è */
	381	if (local_dlc > 4U) {
	382	/* f[^i[(4`7oCg) */
	383	for (i = 4U; i < local_dlc; i++) {
	384	p_data[i] = RSCAN0RMDF1(mb_id, (i - 4U));
	385	}
	386	}
	387
	388	return STATUS_OK;
	389	}

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