diff options
Diffstat (limited to 'drivers/fsl_flexcan.c')
| -rw-r--r-- | drivers/fsl_flexcan.c | 1450 |
1 files changed, 0 insertions, 1450 deletions
diff --git a/drivers/fsl_flexcan.c b/drivers/fsl_flexcan.c deleted file mode 100644 index 2a07dc5..0000000 --- a/drivers/fsl_flexcan.c +++ /dev/null @@ -1,1450 +0,0 @@ -/* - * Copyright (c) 2015, Freescale Semiconductor, Inc. - * Copyright 2016-2017 NXP - * - * Redistribution and use in source and binary forms, with or without modification, - * are permitted provided that the following conditions are met: - * - * o Redistributions of source code must retain the above copyright notice, this list - * of conditions and the following disclaimer. - * - * o Redistributions in binary form must reproduce the above copyright notice, this - * list of conditions and the following disclaimer in the documentation and/or - * other materials provided with the distribution. - * - * o Neither the name of the copyright holder nor the names of its - * contributors may be used to endorse or promote products derived from this - * software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND - * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR - * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON - * ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ - -#include "fsl_flexcan.h" - -/******************************************************************************* - * Definitons - ******************************************************************************/ - -#define FLEXCAN_TIME_QUANTA_NUM (10) - -/*! @brief FlexCAN Internal State. */ -enum _flexcan_state -{ - kFLEXCAN_StateIdle = 0x0, /*!< MB/RxFIFO idle.*/ - kFLEXCAN_StateRxData = 0x1, /*!< MB receiving.*/ - kFLEXCAN_StateRxRemote = 0x2, /*!< MB receiving remote reply.*/ - kFLEXCAN_StateTxData = 0x3, /*!< MB transmitting.*/ - kFLEXCAN_StateTxRemote = 0x4, /*!< MB transmitting remote request.*/ - kFLEXCAN_StateRxFifo = 0x5, /*!< RxFIFO receiving.*/ -}; - -/*! @brief FlexCAN message buffer CODE for Rx buffers. */ -enum _flexcan_mb_code_rx -{ - kFLEXCAN_RxMbInactive = 0x0, /*!< MB is not active.*/ - kFLEXCAN_RxMbFull = 0x2, /*!< MB is full.*/ - kFLEXCAN_RxMbEmpty = 0x4, /*!< MB is active and empty.*/ - kFLEXCAN_RxMbOverrun = 0x6, /*!< MB is overwritten into a full buffer.*/ - kFLEXCAN_RxMbBusy = 0x8, /*!< FlexCAN is updating the contents of the MB.*/ - /*! The CPU must not access the MB.*/ - kFLEXCAN_RxMbRanswer = 0xA, /*!< A frame was configured to recognize a Remote Request Frame */ - /*! and transmit a Response Frame in return.*/ - kFLEXCAN_RxMbNotUsed = 0xF, /*!< Not used.*/ -}; - -/*! @brief FlexCAN message buffer CODE FOR Tx buffers. */ -enum _flexcan_mb_code_tx -{ - kFLEXCAN_TxMbInactive = 0x8, /*!< MB is not active.*/ - kFLEXCAN_TxMbAbort = 0x9, /*!< MB is aborted.*/ - kFLEXCAN_TxMbDataOrRemote = 0xC, /*!< MB is a TX Data Frame(when MB RTR = 0) or */ - /*!< MB is a TX Remote Request Frame (when MB RTR = 1).*/ - kFLEXCAN_TxMbTanswer = 0xE, /*!< MB is a TX Response Request Frame from */ - /*! an incoming Remote Request Frame.*/ - kFLEXCAN_TxMbNotUsed = 0xF, /*!< Not used.*/ -}; - -/* Typedef for interrupt handler. */ -typedef void (*flexcan_isr_t)(CAN_Type *base, flexcan_handle_t *handle); - -/******************************************************************************* - * Prototypes - ******************************************************************************/ - -/*! - * @brief Get the FlexCAN instance from peripheral base address. - * - * @param base FlexCAN peripheral base address. - * @return FlexCAN instance. - */ -uint32_t FLEXCAN_GetInstance(CAN_Type *base); - -#if !defined(NDEBUG) -/*! - * @brief Check if Message Buffer is occupied by Rx FIFO. - * - * This function check if Message Buffer is occupied by Rx FIFO. - * - * @param base FlexCAN peripheral base address. - * @param mbIdx The FlexCAN Message Buffer index. - */ -static bool FLEXCAN_IsMbOccupied(CAN_Type *base, uint8_t mbIdx); -#endif -#if 0 -#if (defined(FSL_FEATURE_FLEXCAN_HAS_ERRATA_5641) && FSL_FEATURE_FLEXCAN_HAS_ERRATA_5641) -/*! - * @brief Get the first valid Message buffer ID of give FlexCAN instance. - * - * This function is a helper function for Errata 5641 workaround. - * - * @param base FlexCAN peripheral base address. - * @return The first valid Message Buffer Number. - */ -static uint32_t FLEXCAN_GetFirstValidMb(CAN_Type *base); -#endif -#endif -/*! - * @brief Check if Message Buffer interrupt is enabled. - * - * This function check if Message Buffer interrupt is enabled. - * - * @param base FlexCAN peripheral base address. - * @param mbIdx The FlexCAN Message Buffer index. - */ -static bool FLEXCAN_IsMbIntEnabled(CAN_Type *base, uint8_t mbIdx); - -/*! - * @brief Reset the FlexCAN Instance. - * - * Restores the FlexCAN module to reset state, notice that this function - * will set all the registers to reset state so the FlexCAN module can not work - * after calling this API. - * - * @param base FlexCAN peripheral base address. -*/ -static void FLEXCAN_Reset(CAN_Type *base); - -/*! - * @brief Set Baud Rate of FlexCAN. - * - * This function set the baud rate of FlexCAN. - * - * @param base FlexCAN peripheral base address. - * @param sourceClock_Hz Source Clock in Hz. - * @param baudRate_Bps Baud Rate in Bps. - */ -static void FLEXCAN_SetBaudRate(CAN_Type *base, uint32_t sourceClock_Hz, uint32_t baudRate_Bps); - -/******************************************************************************* - * Variables - ******************************************************************************/ - -/* Array of FlexCAN peripheral base address. */ -static CAN_Type *const s_flexcanBases[] = CAN_BASE_PTRS; - -/* Array of FlexCAN IRQ number. */ -static const IRQn_Type s_flexcanRxWarningIRQ[] = CAN_Rx_Warning_IRQS; -static const IRQn_Type s_flexcanTxWarningIRQ[] = CAN_Tx_Warning_IRQS; -static const IRQn_Type s_flexcanWakeUpIRQ[] = CAN_Wake_Up_IRQS; -static const IRQn_Type s_flexcanErrorIRQ[] = CAN_Error_IRQS; -static const IRQn_Type s_flexcanBusOffIRQ[] = CAN_Bus_Off_IRQS; -static const IRQn_Type s_flexcanMbIRQ[] = CAN_ORed_Message_buffer_IRQS; - -/* Array of FlexCAN handle. */ -static flexcan_handle_t *s_flexcanHandle[ARRAY_SIZE(s_flexcanBases)]; - -#if !(defined(FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL) && FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL) -/* Array of FlexCAN clock name. */ -static const clock_ip_name_t s_flexcanClock[] = FLEXCAN_CLOCKS; -#if defined(FLEXCAN_PERIPH_CLOCKS) -/* Array of FlexCAN serial clock name. */ -static const clock_ip_name_t s_flexcanPeriphClock[] = FLEXCAN_PERIPH_CLOCKS; -#endif /* FLEXCAN_PERIPH_CLOCKS */ -#endif /* FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL */ - -/* FlexCAN ISR for transactional APIs. */ -static flexcan_isr_t s_flexcanIsr; - -/******************************************************************************* - * Code - ******************************************************************************/ - -uint32_t FLEXCAN_GetInstance(CAN_Type *base) -{ - uint32_t instance; - - /* Find the instance index from base address mappings. */ - for (instance = 0; instance < ARRAY_SIZE(s_flexcanBases); instance++) - { - if (s_flexcanBases[instance] == base) - { - break; - } - } - - assert(instance < ARRAY_SIZE(s_flexcanBases)); - - return instance; -} - -void FLEXCAN_EnterFreezeMode(CAN_Type *base) -{ - /* Set Freeze, Halt bits. */ - base->MCR |= CAN_MCR_HALT_MASK; - - /* Wait until the FlexCAN Module enter freeze mode. */ - while (!(base->MCR & CAN_MCR_FRZACK_MASK)) - { - } -} - -void FLEXCAN_ExitFreezeMode(CAN_Type *base) -{ - /* Clear Freeze, Halt bits. */ - base->MCR &= ~CAN_MCR_HALT_MASK; - - /* Wait until the FlexCAN Module exit freeze mode. */ - while (base->MCR & CAN_MCR_FRZACK_MASK) - { - } -} - -#if !defined(NDEBUG) -static bool FLEXCAN_IsMbOccupied(CAN_Type *base, uint8_t mbIdx) -{ - uint8_t lastOccupiedMb; - - /* Is Rx FIFO enabled? */ - if (base->MCR & CAN_MCR_RFEN_MASK) - { - /* Get RFFN value. */ - lastOccupiedMb = ((base->CTRL2 & CAN_CTRL2_RFFN_MASK) >> CAN_CTRL2_RFFN_SHIFT); - /* Calculate the number of last Message Buffer occupied by Rx FIFO. */ - lastOccupiedMb = ((lastOccupiedMb + 1) * 2) + 5; - -#if (defined(FSL_FEATURE_FLEXCAN_HAS_ERRATA_5641) && FSL_FEATURE_FLEXCAN_HAS_ERRATA_5641) - if (mbIdx <= (lastOccupiedMb + 1)) -#else - if (mbIdx <= lastOccupiedMb) -#endif - { - return true; - } - else - { - return false; - } - } - else - { -#if (defined(FSL_FEATURE_FLEXCAN_HAS_ERRATA_5641) && FSL_FEATURE_FLEXCAN_HAS_ERRATA_5641) - if (0 == mbIdx) - { - return true; - } - else - { - return false; - } -#else - return false; -#endif - } -} -#endif -#if 0 -#if (defined(FSL_FEATURE_FLEXCAN_HAS_ERRATA_5641) && FSL_FEATURE_FLEXCAN_HAS_ERRATA_5641) -static uint32_t FLEXCAN_GetFirstValidMb(CAN_Type *base) -{ - uint32_t firstValidMbNum; - - if (base->MCR & CAN_MCR_RFEN_MASK) - { - firstValidMbNum = ((base->CTRL2 & CAN_CTRL2_RFFN_MASK) >> CAN_CTRL2_RFFN_SHIFT); - firstValidMbNum = ((firstValidMbNum + 1) * 2) + 6; - } - else - { - firstValidMbNum = 0; - } - - return firstValidMbNum; -} -#endif -#endif - -static bool FLEXCAN_IsMbIntEnabled(CAN_Type *base, uint8_t mbIdx) -{ - /* Assertion. */ - assert(mbIdx < FSL_FEATURE_FLEXCAN_HAS_MESSAGE_BUFFER_MAX_NUMBERn(base)); - -#if (FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER > 0) - if (mbIdx < 32) - { -#endif - if (base->IMASK1 & ((uint32_t)(1 << mbIdx))) - { - return true; - } - else - { - return false; - } -#if (FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER > 0) - } - else - { - if (base->IMASK2 & ((uint32_t)(1 << (mbIdx - 32)))) - { - return true; - } - else - { - return false; - } - } -#endif -} - -static void FLEXCAN_Reset(CAN_Type *base) -{ - /* The module must should be first exit from low power - * mode, and then soft reset can be applied. - */ - assert(!(base->MCR & CAN_MCR_MDIS_MASK)); - - uint8_t i; - -#if (FSL_FEATURE_FLEXCAN_HAS_DOZE_MODE_SUPPORT != 0) - /* De-assert DOZE Enable Bit. */ - base->MCR &= ~CAN_MCR_DOZE_MASK; -#endif - - /* Wait until FlexCAN exit from any Low Power Mode. */ - while (base->MCR & CAN_MCR_LPMACK_MASK) - { - } - - /* Assert Soft Reset Signal. */ - base->MCR |= CAN_MCR_SOFTRST_MASK; - /* Wait until FlexCAN reset completes. */ - while (base->MCR & CAN_MCR_SOFTRST_MASK) - { - } - -/* Reset MCR rigister. */ -#if (defined(FSL_FEATURE_FLEXCAN_HAS_GLITCH_FILTER) && FSL_FEATURE_FLEXCAN_HAS_GLITCH_FILTER) - base->MCR |= CAN_MCR_WRNEN_MASK | CAN_MCR_WAKSRC_MASK | - CAN_MCR_MAXMB(FSL_FEATURE_FLEXCAN_HAS_MESSAGE_BUFFER_MAX_NUMBERn(base) - 1); -#else - base->MCR |= CAN_MCR_WRNEN_MASK | CAN_MCR_MAXMB(FSL_FEATURE_FLEXCAN_HAS_MESSAGE_BUFFER_MAX_NUMBERn(base) - 1); -#endif - - /* Reset CTRL1 and CTRL2 rigister. */ - base->CTRL1 = CAN_CTRL1_SMP_MASK; - base->CTRL2 = CAN_CTRL2_TASD(0x16) | CAN_CTRL2_RRS_MASK | CAN_CTRL2_EACEN_MASK; - - /* Clean all individual Rx Mask of Message Buffers. */ - for (i = 0; i < FSL_FEATURE_FLEXCAN_HAS_MESSAGE_BUFFER_MAX_NUMBERn(base); i++) - { - base->RXIMR[i] = 0x3FFFFFFF; - } - - /* Clean Global Mask of Message Buffers. */ - base->RXMGMASK = 0x3FFFFFFF; - /* Clean Global Mask of Message Buffer 14. */ - base->RX14MASK = 0x3FFFFFFF; - /* Clean Global Mask of Message Buffer 15. */ - base->RX15MASK = 0x3FFFFFFF; - /* Clean Global Mask of Rx FIFO. */ - base->RXFGMASK = 0x3FFFFFFF; - - /* Clean all Message Buffer CS fields. */ - for (i = 0; i < FSL_FEATURE_FLEXCAN_HAS_MESSAGE_BUFFER_MAX_NUMBERn(base); i++) - { - base->MB[i].CS = 0x0; - } -} - -void FLEXCAN_SetBaudRate(CAN_Type *base, uint32_t sourceClock_Hz, uint32_t baudRate_Bps) -{ - flexcan_timing_config_t timingConfig; - uint32_t priDiv = baudRate_Bps * FLEXCAN_TIME_QUANTA_NUM; - - /* Assertion: Desired baud rate is too high. */ - assert(baudRate_Bps <= 1000000U); - /* Assertion: Source clock should greater than baud rate * FLEXCAN_TIME_QUANTA_NUM. */ - assert(priDiv <= sourceClock_Hz); - - - if (0 == priDiv) - { - priDiv = 1; - } - - priDiv = (sourceClock_Hz / priDiv) - 1; - /* Desired baud rate is too low. */ - if (priDiv > 0xFF) - { - priDiv = 0xFF; - } - - - /* FlexCAN timing setting formula: - * FLEXCAN_TIME_QUANTA_NUM = 1 + (PSEG1 + 1) + (PSEG2 + 1) + (PROPSEG + 1); - */ - timingConfig.preDivider = priDiv; - timingConfig.phaseSeg1 = 3; - timingConfig.phaseSeg2 = 2; - timingConfig.propSeg = 1; - timingConfig.rJumpwidth = 1; - - /* Update actual timing characteristic. */ - FLEXCAN_SetTimingConfig(base, &timingConfig); -} - -void FLEXCAN_Init(CAN_Type *base, const flexcan_config_t *config, uint32_t sourceClock_Hz) -{ - uint32_t mcrTemp; -#if !(defined(FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL) && FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL) - uint32_t instance; -#endif - - /* Assertion. */ - assert(config); - assert((config->maxMbNum > 0) && (config->maxMbNum <= FSL_FEATURE_FLEXCAN_HAS_MESSAGE_BUFFER_MAX_NUMBERn(base))); - -#if !(defined(FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL) && FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL) - instance = FLEXCAN_GetInstance(base); - /* Enable FlexCAN clock. */ - CLOCK_EnableClock(s_flexcanClock[instance]); -#if defined(FLEXCAN_PERIPH_CLOCKS) - /* Enable FlexCAN serial clock. */ - CLOCK_EnableClock(s_flexcanPeriphClock[instance]); -#endif /* FLEXCAN_PERIPH_CLOCKS */ -#endif /* FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL */ - -#if (!defined(FSL_FEATURE_FLEXCAN_SUPPORT_ENGINE_CLK_SEL_REMOVE)) || !FSL_FEATURE_FLEXCAN_SUPPORT_ENGINE_CLK_SEL_REMOVE - /* Disable FlexCAN Module. */ - FLEXCAN_Enable(base, false); - - /* Protocol-Engine clock source selection, This bit must be set - * when FlexCAN Module in Disable Mode. - */ - base->CTRL1 = (kFLEXCAN_ClkSrcOsc == config->clkSrc) ? base->CTRL1 & ~CAN_CTRL1_CLKSRC_MASK : - base->CTRL1 | CAN_CTRL1_CLKSRC_MASK; -#endif /* FSL_FEATURE_FLEXCAN_SUPPORT_ENGINE_CLK_SEL_REMOVE */ - - /* Enable FlexCAN Module for configuartion. */ - FLEXCAN_Enable(base, true); - - /* Reset to known status. */ - FLEXCAN_Reset(base); - - /* Save current MCR value and enable to enter Freeze mode(enabled by default). */ - mcrTemp = base->MCR; - - /* Set the maximum number of Message Buffers */ - mcrTemp = (mcrTemp & ~CAN_MCR_MAXMB_MASK) | CAN_MCR_MAXMB(config->maxMbNum - 1); - - /* Enable Loop Back Mode? */ - base->CTRL1 = (config->enableLoopBack) ? base->CTRL1 | CAN_CTRL1_LPB_MASK : base->CTRL1 & ~CAN_CTRL1_LPB_MASK; - - /* Enable Self Wake Up Mode? */ - mcrTemp = (config->enableSelfWakeup) ? mcrTemp | CAN_MCR_SLFWAK_MASK : mcrTemp & ~CAN_MCR_SLFWAK_MASK; - - /* Enable Individual Rx Masking? */ - mcrTemp = (config->enableIndividMask) ? mcrTemp | CAN_MCR_IRMQ_MASK : mcrTemp & ~CAN_MCR_IRMQ_MASK; - -#if (defined(FSL_FEATURE_FLEXCAN_HAS_DOZE_MODE_SUPPORT) && FSL_FEATURE_FLEXCAN_HAS_DOZE_MODE_SUPPORT) - /* Enable Doze Mode? */ - mcrTemp = (config->enableDoze) ? mcrTemp | CAN_MCR_DOZE_MASK : mcrTemp & ~CAN_MCR_DOZE_MASK; -#endif - - mcrTemp |= CAN_MCR_HALT_MASK; - mcrTemp |= CAN_MCR_FRZ_MASK; - - /* Save MCR Configuation. */ - base->MCR = mcrTemp; - - /* Baud Rate Configuration.*/ - FLEXCAN_SetBaudRate(base, sourceClock_Hz, config->baudRate); -} - -void FLEXCAN_Deinit(CAN_Type *base) -{ -#if !(defined(FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL) && FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL) - uint32_t instance; -#endif - /* Reset all Register Contents. */ - FLEXCAN_Reset(base); - - /* Disable FlexCAN module. */ - FLEXCAN_Enable(base, false); - -#if !(defined(FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL) && FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL) - instance = FLEXCAN_GetInstance(base); -#if defined(FLEXCAN_PERIPH_CLOCKS) - /* Disable FlexCAN serial clock. */ - CLOCK_DisableClock(s_flexcanPeriphClock[instance]); -#endif /* FLEXCAN_PERIPH_CLOCKS */ - /* Disable FlexCAN clock. */ - CLOCK_DisableClock(s_flexcanClock[instance]); -#endif /* FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL */ -} - -void FLEXCAN_GetDefaultConfig(flexcan_config_t *config) -{ - /* Assertion. */ - assert(config); - - /* Initialize FlexCAN Module config struct with default value. */ -#if (!defined(FSL_FEATURE_FLEXCAN_SUPPORT_ENGINE_CLK_SEL_REMOVE)) || !FSL_FEATURE_FLEXCAN_SUPPORT_ENGINE_CLK_SEL_REMOVE - config->clkSrc = kFLEXCAN_ClkSrcOsc; -#endif /* FSL_FEATURE_FLEXCAN_SUPPORT_ENGINE_CLK_SEL_REMOVE */ - config->baudRate = 125000U; - config->maxMbNum = 16; - config->enableLoopBack = false; - config->enableSelfWakeup = false; - config->enableIndividMask = false; -#if (defined(FSL_FEATURE_FLEXCAN_HAS_DOZE_MODE_SUPPORT) && FSL_FEATURE_FLEXCAN_HAS_DOZE_MODE_SUPPORT) - config->enableDoze = false; -#endif -} - -void FLEXCAN_SetTimingConfig(CAN_Type *base, const flexcan_timing_config_t *config) -{ - /* Assertion. */ - assert(config); - int keep_frozen = 0; - - if (base->MCR & CAN_MCR_FRZACK_MASK) - keep_frozen = 1; - - /* Enter Freeze Mode. */ - FLEXCAN_EnterFreezeMode(base); - - /* Cleaning previous Timing Setting. */ - base->CTRL1 &= ~(CAN_CTRL1_PRESDIV_MASK | CAN_CTRL1_RJW_MASK | CAN_CTRL1_PSEG1_MASK | CAN_CTRL1_PSEG2_MASK | - CAN_CTRL1_PROPSEG_MASK); - - /* Updating Timing Setting according to configuration structure. */ - base->CTRL1 |= - (CAN_CTRL1_PRESDIV(config->preDivider) | CAN_CTRL1_RJW(config->rJumpwidth) | - CAN_CTRL1_PSEG1(config->phaseSeg1) | CAN_CTRL1_PSEG2(config->phaseSeg2) | CAN_CTRL1_PROPSEG(config->propSeg)); - - /* Exit Freeze Mode. */ - if (!keep_frozen) - FLEXCAN_ExitFreezeMode(base); -} - -void FLEXCAN_SetBitRate(CAN_Type *base, uint32_t sourceClock_Hz, uint32_t baudRate_Bps) -{ - int keep_frozen = 0; - - if (base->MCR & CAN_MCR_FRZACK_MASK) - keep_frozen = 1; - - /* Enter Freeze Mode. */ - FLEXCAN_EnterFreezeMode(base); - - FLEXCAN_SetBaudRate(base, sourceClock_Hz, baudRate_Bps); - - /* Exit Freeze Mode. */ - if (!keep_frozen) - FLEXCAN_ExitFreezeMode(base); -} - -void FLEXCAN_SetMode(CAN_Type *base, uint32_t mode) -{ - int keep_frozen = 0; - - if (base->MCR & CAN_MCR_FRZACK_MASK) - keep_frozen = 1; - /* Enter Freeze Mode. */ - FLEXCAN_EnterFreezeMode(base); - switch (mode){ - case CAN_CTRLMODE_3_SAMPLES: - base->CTRL1 &= ~CAN_CTRL1_LPB_MASK; - base->CTRL1 &= ~CAN_CTRL1_LOM_MASK; - base->CTRL1 |= CAN_CTRL1_SMP_MASK; - break; - case CAN_CTRLMODE_LISTENONLY: - base->CTRL1 &= ~CAN_CTRL1_LPB_MASK; - base->CTRL1 &= ~CAN_CTRL1_SMP_MASK; - base->CTRL1 |= CAN_CTRL1_LOM_MASK; - break; - case CAN_CTRLMODE_LOOPBACK: - base->CTRL1 &= ~CAN_CTRL1_SMP_MASK; - base->CTRL1 &= ~CAN_CTRL1_LOM_MASK; - base->CTRL1 |= CAN_CTRL1_LPB_MASK; - break; - case CAN_CTRLMODE_NORMAL: - base->CTRL1 &= ~CAN_CTRL1_LPB_MASK; - base->CTRL1 &= ~CAN_CTRL1_LOM_MASK; - base->CTRL1 &= ~CAN_CTRL1_SMP_MASK; - } - /* Exit Freeze Mode. */ - if (!keep_frozen) - FLEXCAN_ExitFreezeMode(base); -} - -void FLEXCAN_SetRxMbGlobalMask(CAN_Type *base, uint32_t mask) -{ - /* Enter Freeze Mode. */ - //FLEXCAN_EnterFreezeMode(base); - - /* Setting Rx Message Buffer Global Mask value. */ - base->RXMGMASK = mask; - base->RX14MASK = mask; - base->RX15MASK = mask; - - /* Exit Freeze Mode. */ - //FLEXCAN_ExitFreezeMode(base); -} - -void FLEXCAN_SetRxFifoGlobalMask(CAN_Type *base, uint32_t mask) -{ - /* Enter Freeze Mode. */ - //FLEXCAN_EnterFreezeMode(base); - - /* Setting Rx FIFO Global Mask value. */ - base->RXFGMASK = mask; - - /* Exit Freeze Mode. */ - //FLEXCAN_ExitFreezeMode(base); -} - -void FLEXCAN_SetRxIndividualMask(CAN_Type *base, uint8_t maskIdx, uint32_t mask) -{ - assert(maskIdx <= (base->MCR & CAN_MCR_MAXMB_MASK)); - - /* Enter Freeze Mode. */ - FLEXCAN_EnterFreezeMode(base); - - /* Setting Rx Individual Mask value. */ - base->RXIMR[maskIdx] = mask; - - /* Exit Freeze Mode. */ - FLEXCAN_ExitFreezeMode(base); -} - -void FLEXCAN_SetTxMbConfig(CAN_Type *base, uint8_t mbIdx, bool enable) -{ - /* Assertion. */ - assert(mbIdx <= (base->MCR & CAN_MCR_MAXMB_MASK)); - assert(!FLEXCAN_IsMbOccupied(base, mbIdx)); - - /* Inactivate Message Buffer. */ - if (enable) - { - base->MB[mbIdx].CS = CAN_CS_CODE(kFLEXCAN_TxMbInactive); - } - else - { - base->MB[mbIdx].CS = 0; - } - - /* Clean Message Buffer content. */ - base->MB[mbIdx].ID = 0x0; - base->MB[mbIdx].WORD0 = 0x0; - base->MB[mbIdx].WORD1 = 0x0; -} - -void FLEXCAN_SetRxMbConfig(CAN_Type *base, uint8_t mbIdx, const flexcan_rx_mb_config_t *config, bool enable) -{ - /* Assertion. */ - assert(mbIdx <= (base->MCR & CAN_MCR_MAXMB_MASK)); - assert(((config) || (false == enable))); - assert(!FLEXCAN_IsMbOccupied(base, mbIdx)); - - uint32_t cs_temp = 0; - - /* Inactivate Message Buffer. */ - base->MB[mbIdx].CS = 0; - - /* Clean Message Buffer content. */ - base->MB[mbIdx].ID = 0x0; - base->MB[mbIdx].WORD0 = 0x0; - base->MB[mbIdx].WORD1 = 0x0; - - if (enable) - { - /* Setup Message Buffer ID. */ - base->MB[mbIdx].ID = config->id; - - /* Setup Message Buffer format. */ - if (kFLEXCAN_FrameFormatExtend == config->format) - { - cs_temp |= CAN_CS_IDE_MASK; - } - - /* Setup Message Buffer type. */ - if (kFLEXCAN_FrameTypeRemote == config->type) - { - cs_temp |= CAN_CS_RTR_MASK; - } - - /* Activate Rx Message Buffer. */ - cs_temp |= CAN_CS_CODE(kFLEXCAN_RxMbEmpty); - base->MB[mbIdx].CS = cs_temp; - } -} - -void FLEXCAN_SetRxFifoConfig(CAN_Type *base, const flexcan_rx_fifo_config_t *config, bool enable) -{ - /* Assertion. */ - assert((config) || (false == enable)); - - volatile uint32_t *idFilterRegion = (volatile uint32_t *)(&base->MB[6].CS); - uint8_t setup_mb, i, rffn = 0; - - /* Enter Freeze Mode. */ - //FLEXCAN_EnterFreezeMode(base); - - if (enable) - { - assert(config->idFilterNum <= 128); - - /* Get the setup_mb value. */ - setup_mb = (base->MCR & CAN_MCR_MAXMB_MASK) >> CAN_MCR_MAXMB_SHIFT; - setup_mb = (setup_mb < FSL_FEATURE_FLEXCAN_HAS_MESSAGE_BUFFER_MAX_NUMBERn(base)) ? - setup_mb : - FSL_FEATURE_FLEXCAN_HAS_MESSAGE_BUFFER_MAX_NUMBERn(base); - - /* Determine RFFN value. */ - for (i = 0; i <= 0xF; i++) - { - if ((8 * (i + 1)) >= config->idFilterNum) - { - rffn = i; - assert(((setup_mb - 8) - (2 * rffn)) > 0); - - base->CTRL2 = (base->CTRL2 & ~CAN_CTRL2_RFFN_MASK) | CAN_CTRL2_RFFN(rffn); - break; - } - } - } - else - { - rffn = (base->CTRL2 & CAN_CTRL2_RFFN_MASK) >> CAN_CTRL2_RFFN_SHIFT; - } - - /* Clean ID filter table occuyied Message Buffer Region. */ - rffn = (rffn + 1) * 8; - for (i = 0; i < rffn; i++) - { - idFilterRegion[i] = 0x0; - } - - if (enable) - { - /* Disable unused Rx FIFO Filter. */ - for (i = config->idFilterNum; i < rffn; i++) - { - idFilterRegion[i] = 0xFFFFFFFFU; - } - - /* Copy ID filter table to Message Buffer Region. */ - for (i = 0; i < config->idFilterNum; i++) - { - idFilterRegion[i] = config->idFilterTable[i]; - } - - /* Setup ID Fitlter Type. */ - switch (config->idFilterType) - { - case kFLEXCAN_RxFifoFilterTypeA: - base->MCR = (base->MCR & ~CAN_MCR_IDAM_MASK) | CAN_MCR_IDAM(0x0); - break; - case kFLEXCAN_RxFifoFilterTypeB: - base->MCR = (base->MCR & ~CAN_MCR_IDAM_MASK) | CAN_MCR_IDAM(0x1); - break; - case kFLEXCAN_RxFifoFilterTypeC: - base->MCR = (base->MCR & ~CAN_MCR_IDAM_MASK) | CAN_MCR_IDAM(0x2); - break; - case kFLEXCAN_RxFifoFilterTypeD: - /* All frames rejected. */ - base->MCR = (base->MCR & ~CAN_MCR_IDAM_MASK) | CAN_MCR_IDAM(0x3); - break; - default: - break; - } - - /* Setting Message Reception Priority. */ - base->CTRL2 = (config->priority == kFLEXCAN_RxFifoPrioHigh) ? base->CTRL2 & ~CAN_CTRL2_MRP_MASK : - base->CTRL2 | CAN_CTRL2_MRP_MASK; - - /* Enable Rx Message FIFO. */ - base->MCR |= CAN_MCR_RFEN_MASK; - } - else - { - /* Disable Rx Message FIFO. */ - base->MCR &= ~CAN_MCR_RFEN_MASK; - - /* Clean MB0 ~ MB5. */ - FLEXCAN_SetRxMbConfig(base, 0, NULL, false); - FLEXCAN_SetRxMbConfig(base, 1, NULL, false); - FLEXCAN_SetRxMbConfig(base, 2, NULL, false); - FLEXCAN_SetRxMbConfig(base, 3, NULL, false); - FLEXCAN_SetRxMbConfig(base, 4, NULL, false); - FLEXCAN_SetRxMbConfig(base, 5, NULL, false); - } - base->MCR |= CAN_MCR_SRXDIS_MASK; - /* Exit Freeze Mode. */ - //FLEXCAN_ExitFreezeMode(base); -} - -#if (defined(FSL_FEATURE_FLEXCAN_HAS_RX_FIFO_DMA) && FSL_FEATURE_FLEXCAN_HAS_RX_FIFO_DMA) -void FLEXCAN_EnableRxFifoDMA(CAN_Type *base, bool enable) -{ - if (enable) - { - /* Enter Freeze Mode. */ - FLEXCAN_EnterFreezeMode(base); - - /* Enable FlexCAN DMA. */ - base->MCR |= CAN_MCR_DMA_MASK; - - /* Exit Freeze Mode. */ - FLEXCAN_ExitFreezeMode(base); - } - else - { - /* Enter Freeze Mode. */ - FLEXCAN_EnterFreezeMode(base); - - /* Disable FlexCAN DMA. */ - base->MCR &= ~CAN_MCR_DMA_MASK; - - /* Exit Freeze Mode. */ - FLEXCAN_ExitFreezeMode(base); - } -} -#endif /* FSL_FEATURE_FLEXCAN_HAS_RX_FIFO_DMA */ - -status_t FLEXCAN_WriteTxMb(CAN_Type *base, uint8_t mbIdx, const flexcan_frame_t *txFrame) -{ - /* Assertion. */ - assert(mbIdx <= (base->MCR & CAN_MCR_MAXMB_MASK)); - assert(txFrame); - assert(txFrame->length <= 8); - assert(!FLEXCAN_IsMbOccupied(base, mbIdx)); - - uint32_t cs_temp = 0; - - /* Check if Message Buffer is available. */ - if (CAN_CS_CODE(kFLEXCAN_TxMbDataOrRemote) != (base->MB[mbIdx].CS & CAN_CS_CODE_MASK)) - { - /* Inactive Tx Message Buffer. */ - base->MB[mbIdx].CS = (base->MB[mbIdx].CS & ~CAN_CS_CODE_MASK) | CAN_CS_CODE(kFLEXCAN_TxMbInactive); - - /* Fill Message ID field. */ - base->MB[mbIdx].ID = txFrame->id; - - /* Fill Message Format field. */ - if (kFLEXCAN_FrameFormatExtend == txFrame->format) - { - cs_temp |= CAN_CS_SRR_MASK | CAN_CS_IDE_MASK; - } - - /* Fill Message Type field. */ - if (kFLEXCAN_FrameTypeRemote == txFrame->type) - { - cs_temp |= CAN_CS_RTR_MASK; - } - - cs_temp |= CAN_CS_CODE(kFLEXCAN_TxMbDataOrRemote) | CAN_CS_DLC(txFrame->length); - - /* Load Message Payload. */ - base->MB[mbIdx].WORD0 = txFrame->dataWord0; - base->MB[mbIdx].WORD1 = txFrame->dataWord1; - - /* Activate Tx Message Buffer. */ - base->MB[mbIdx].CS = cs_temp; - -#if (defined(FSL_FEATURE_FLEXCAN_HAS_ERRATA_5641) && FSL_FEATURE_FLEXCAN_HAS_ERRATA_5641) - base->MB[8].CS = CAN_CS_CODE(kFLEXCAN_TxMbInactive); - base->MB[8].CS = CAN_CS_CODE(kFLEXCAN_TxMbInactive); -#endif - - return kStatus_Success; - } - else - { - /* Tx Message Buffer is activated, return immediately. */ - return kStatus_Fail; - } -} - -status_t FLEXCAN_ReadRxMb(CAN_Type *base, uint8_t mbIdx, flexcan_frame_t *rxFrame) -{ - /* Assertion. */ - assert(mbIdx <= (base->MCR & CAN_MCR_MAXMB_MASK)); - assert(rxFrame); - assert(!FLEXCAN_IsMbOccupied(base, mbIdx)); - - uint32_t cs_temp; - uint8_t rx_code; - - /* Read CS field of Rx Message Buffer to lock Message Buffer. */ - cs_temp = base->MB[mbIdx].CS; - /* Get Rx Message Buffer Code field. */ - rx_code = (cs_temp & CAN_CS_CODE_MASK) >> CAN_CS_CODE_SHIFT; - - /* Check to see if Rx Message Buffer is full. */ - if ((kFLEXCAN_RxMbFull == rx_code) || (kFLEXCAN_RxMbOverrun == rx_code)) - { - /* Store Message ID. */ - rxFrame->id = base->MB[mbIdx].ID & (CAN_ID_EXT_MASK | CAN_ID_STD_MASK); - - /* Get the message ID and format. */ - rxFrame->format = (cs_temp & CAN_CS_IDE_MASK) ? kFLEXCAN_FrameFormatExtend : kFLEXCAN_FrameFormatStandard; - - /* Get the message type. */ - rxFrame->type = (cs_temp & CAN_CS_RTR_MASK) ? kFLEXCAN_FrameTypeRemote : kFLEXCAN_FrameTypeData; - - /* Get the message length. */ - rxFrame->length = (cs_temp & CAN_CS_DLC_MASK) >> CAN_CS_DLC_SHIFT; - - /* Store Message Payload. */ - rxFrame->dataWord0 = base->MB[mbIdx].WORD0; - rxFrame->dataWord1 = base->MB[mbIdx].WORD1; - - /* Read free-running timer to unlock Rx Message Buffer. */ - (void)base->TIMER; - - if (kFLEXCAN_RxMbFull == rx_code) - { - return kStatus_Success; - } - else - { - return kStatus_FLEXCAN_RxOverflow; - } - } - else - { - /* Read free-running timer to unlock Rx Message Buffer. */ - (void)base->TIMER; - - return kStatus_Fail; - } -} - -status_t FLEXCAN_ReadRxFifo(CAN_Type *base, flexcan_frame_t *rxFrame) -{ - /* Assertion. */ - assert(rxFrame); - - uint32_t cs_temp; - - /* Check if Rx FIFO is Enabled. */ - if (base->MCR & CAN_MCR_RFEN_MASK) - { - /* Read CS field of Rx Message Buffer to lock Message Buffer. */ - cs_temp = base->MB[0].CS; - - /* Read data from Rx FIFO output port. */ - /* Store Message ID. */ - rxFrame->id = base->MB[0].ID & (CAN_ID_EXT_MASK | CAN_ID_STD_MASK); - - /* Get the message ID and format. */ - rxFrame->format = (cs_temp & CAN_CS_IDE_MASK) ? kFLEXCAN_FrameFormatExtend : kFLEXCAN_FrameFormatStandard; - - /* Get the message type. */ - rxFrame->type = (cs_temp & CAN_CS_RTR_MASK) ? kFLEXCAN_FrameTypeRemote : kFLEXCAN_FrameTypeData; - - /* Get the message length. */ - rxFrame->length = (cs_temp & CAN_CS_DLC_MASK) >> CAN_CS_DLC_SHIFT; - - /* Store Message Payload. */ - rxFrame->dataWord0 = base->MB[0].WORD0; - rxFrame->dataWord1 = base->MB[0].WORD1; - - /* Store ID Filter Hit Index. */ - rxFrame->idhit = (uint8_t)(base->RXFIR & CAN_RXFIR_IDHIT_MASK); - - /* Read free-running timer to unlock Rx Message Buffer. */ - (void)base->TIMER; - - return kStatus_Success; - } - else - { - return kStatus_Fail; - } -} - -status_t FLEXCAN_TransferSendBlocking(CAN_Type *base, uint8_t mbIdx, flexcan_frame_t *txFrame) -{ - /* Write Tx Message Buffer to initiate a data sending. */ - if (kStatus_Success == FLEXCAN_WriteTxMb(base, mbIdx, txFrame)) - { - /* Wait until CAN Message send out. */ - while (!FLEXCAN_GetMbStatusFlags(base, 1 << mbIdx)) - { - } - - /* Clean Tx Message Buffer Flag. */ - FLEXCAN_ClearMbStatusFlags(base, 1 << mbIdx); - - return kStatus_Success; - } - else - { - return kStatus_Fail; - } -} - -status_t FLEXCAN_TransferReceiveBlocking(CAN_Type *base, uint8_t mbIdx, flexcan_frame_t *rxFrame) -{ - /* Wait until Rx Message Buffer non-empty. */ - while (!FLEXCAN_GetMbStatusFlags(base, 1 << mbIdx)) - { - } - - /* Clean Rx Message Buffer Flag. */ - FLEXCAN_ClearMbStatusFlags(base, 1 << mbIdx); - - /* Read Received CAN Message. */ - return FLEXCAN_ReadRxMb(base, mbIdx, rxFrame); -} - -status_t FLEXCAN_TransferReceiveFifoBlocking(CAN_Type *base, flexcan_frame_t *rxFrame) -{ - status_t rxFifoStatus; - - /* Wait until Rx FIFO non-empty. */ - while (!FLEXCAN_GetMbStatusFlags(base, kFLEXCAN_RxFifoFrameAvlFlag)) - { - } - - /* */ - rxFifoStatus = FLEXCAN_ReadRxFifo(base, rxFrame); - - /* Clean Rx Fifo available flag. */ - FLEXCAN_ClearMbStatusFlags(base, kFLEXCAN_RxFifoFrameAvlFlag); - - return rxFifoStatus; -} - -void FLEXCAN_TransferCreateHandle(CAN_Type *base, - flexcan_handle_t *handle, - flexcan_transfer_callback_t callback, - void *userData) -{ - assert(handle); - - uint8_t instance; - - /* Clean FlexCAN transfer handle. */ - memset(handle, 0, sizeof(*handle)); - - /* Get instance from peripheral base address. */ - instance = FLEXCAN_GetInstance(base); - - /* Save the context in global variables to support the double weak mechanism. */ - s_flexcanHandle[instance] = handle; - - /* Register Callback function. */ - handle->callback = callback; - handle->userData = userData; - - s_flexcanIsr = FLEXCAN_TransferHandleIRQ; - - /* We Enable Error & Status interrupt here, because this interrupt just - * report current status of FlexCAN module through Callback function. - * It is insignificance without a available callback function. - */ - if (handle->callback != NULL) - { - FLEXCAN_EnableInterrupts(base, kFLEXCAN_BusOffInterruptEnable | kFLEXCAN_ErrorInterruptEnable | - kFLEXCAN_RxWarningInterruptEnable | kFLEXCAN_TxWarningInterruptEnable | - kFLEXCAN_WakeUpInterruptEnable); - } - else - { - FLEXCAN_DisableInterrupts(base, kFLEXCAN_BusOffInterruptEnable | kFLEXCAN_ErrorInterruptEnable | - kFLEXCAN_RxWarningInterruptEnable | kFLEXCAN_TxWarningInterruptEnable | - kFLEXCAN_WakeUpInterruptEnable); - } - - /* Enable interrupts in NVIC. */ - EnableIRQ((IRQn_Type)(s_flexcanRxWarningIRQ[instance])); - EnableIRQ((IRQn_Type)(s_flexcanTxWarningIRQ[instance])); - EnableIRQ((IRQn_Type)(s_flexcanWakeUpIRQ[instance])); - EnableIRQ((IRQn_Type)(s_flexcanErrorIRQ[instance])); - EnableIRQ((IRQn_Type)(s_flexcanBusOffIRQ[instance])); - EnableIRQ((IRQn_Type)(s_flexcanMbIRQ[instance])); -} - -status_t FLEXCAN_TransferSendNonBlocking(CAN_Type *base, flexcan_handle_t *handle, flexcan_mb_transfer_t *xfer) -{ - /* Assertion. */ - assert(handle); - assert(xfer); - assert(xfer->mbIdx <= (base->MCR & CAN_MCR_MAXMB_MASK)); - assert(!FLEXCAN_IsMbOccupied(base, xfer->mbIdx)); - - /* Check if Message Buffer is idle. */ - if (kFLEXCAN_StateIdle == handle->mbState[xfer->mbIdx]) - { - /* Distinguish transmit type. */ - if (kFLEXCAN_FrameTypeRemote == xfer->frame->type) - { - handle->mbState[xfer->mbIdx] = kFLEXCAN_StateTxRemote; - - /* Register user Frame buffer to receive remote Frame. */ - handle->mbFrameBuf[xfer->mbIdx] = xfer->frame; - } - else - { - handle->mbState[xfer->mbIdx] = kFLEXCAN_StateTxData; - } - - if (kStatus_Success == FLEXCAN_WriteTxMb(base, xfer->mbIdx, xfer->frame)) - { - /* Enable Message Buffer Interrupt. */ - FLEXCAN_EnableMbInterrupts(base, 1 << xfer->mbIdx); - - return kStatus_Success; - } - else - { - handle->mbState[xfer->mbIdx] = kFLEXCAN_StateIdle; - return kStatus_Fail; - } - } - else - { - return kStatus_FLEXCAN_TxBusy; - } -} - -status_t FLEXCAN_TransferReceiveNonBlocking(CAN_Type *base, flexcan_handle_t *handle, flexcan_mb_transfer_t *xfer) -{ - /* Assertion. */ - assert(handle); - assert(xfer); - assert(xfer->mbIdx <= (base->MCR & CAN_MCR_MAXMB_MASK)); - assert(!FLEXCAN_IsMbOccupied(base, xfer->mbIdx)); - - /* Check if Message Buffer is idle. */ - if (kFLEXCAN_StateIdle == handle->mbState[xfer->mbIdx]) - { - handle->mbState[xfer->mbIdx] = kFLEXCAN_StateRxData; - - /* Register Message Buffer. */ - handle->mbFrameBuf[xfer->mbIdx] = xfer->frame; - - /* Enable Message Buffer Interrupt. */ - FLEXCAN_EnableMbInterrupts(base, 1 << xfer->mbIdx); - - return kStatus_Success; - } - else - { - return kStatus_FLEXCAN_RxBusy; - } -} - -status_t FLEXCAN_TransferReceiveFifoNonBlocking(CAN_Type *base, flexcan_handle_t *handle, flexcan_fifo_transfer_t *xfer) -{ - /* Assertion. */ - assert(handle); - assert(xfer); - - /* Check if Message Buffer is idle. */ - if (kFLEXCAN_StateIdle == handle->rxFifoState) - { - handle->rxFifoState = kFLEXCAN_StateRxFifo; - - /* Register Message Buffer. */ - handle->rxFifoFrameBuf = xfer->frame; - - /* Enable Message Buffer Interrupt. */ - FLEXCAN_EnableMbInterrupts( - base, kFLEXCAN_RxFifoOverflowFlag | kFLEXCAN_RxFifoWarningFlag | kFLEXCAN_RxFifoFrameAvlFlag); - - return kStatus_Success; - } - else - { - return kStatus_FLEXCAN_RxFifoBusy; - } -} - -void FLEXCAN_TransferAbortSend(CAN_Type *base, flexcan_handle_t *handle, uint8_t mbIdx) -{ - /* Assertion. */ - assert(handle); - assert(mbIdx <= (base->MCR & CAN_MCR_MAXMB_MASK)); - assert(!FLEXCAN_IsMbOccupied(base, mbIdx)); - - /* Disable Message Buffer Interrupt. */ - //FLEXCAN_DisableMbInterrupts(base, 1 << mbIdx); - - /* Un-register handle. */ - handle->mbFrameBuf[mbIdx] = 0x0; - - /* Clean Message Buffer. */ - FLEXCAN_SetTxMbConfig(base, mbIdx, true); - - handle->mbState[mbIdx] = kFLEXCAN_StateIdle; -} - -void FLEXCAN_TransferAbortReceive(CAN_Type *base, flexcan_handle_t *handle, uint8_t mbIdx) -{ - /* Assertion. */ - assert(handle); - assert(mbIdx <= (base->MCR & CAN_MCR_MAXMB_MASK)); - assert(!FLEXCAN_IsMbOccupied(base, mbIdx)); - - /* Disable Message Buffer Interrupt. */ - FLEXCAN_DisableMbInterrupts(base, 1 << mbIdx); - - /* Un-register handle. */ - handle->mbFrameBuf[mbIdx] = 0x0; - handle->mbState[mbIdx] = kFLEXCAN_StateIdle; -} - -void FLEXCAN_TransferAbortReceiveFifo(CAN_Type *base, flexcan_handle_t *handle) -{ - /* Assertion. */ - assert(handle); - - /* Check if Rx FIFO is enabled. */ - if (base->MCR & CAN_MCR_RFEN_MASK) - { - /* Disable Rx Message FIFO Interrupts. */ - FLEXCAN_DisableMbInterrupts( - base, kFLEXCAN_RxFifoOverflowFlag | kFLEXCAN_RxFifoWarningFlag | kFLEXCAN_RxFifoFrameAvlFlag); - - /* Un-register handle. */ - handle->rxFifoFrameBuf = 0x0; - } - - handle->rxFifoState = kFLEXCAN_StateIdle; -} - -void FLEXCAN_TransferHandleIRQ(CAN_Type *base, flexcan_handle_t *handle) -{ - /* Assertion. */ - assert(handle); - - status_t status = kStatus_FLEXCAN_UnHandled; - uint32_t result; - BaseType_t reschedule = pdFALSE; - - /* Store Current FlexCAN Module Error and Status. */ - result = base->ESR1; - - do - { - /* Solve FlexCAN Error and Status Interrupt. */ - if (result & (kFLEXCAN_TxWarningIntFlag | kFLEXCAN_RxWarningIntFlag | kFLEXCAN_BusOffIntFlag | - kFLEXCAN_ErrorIntFlag | kFLEXCAN_WakeUpIntFlag)) - { - status = kStatus_FLEXCAN_ErrorStatus; - - /* Clear FlexCAN Error and Status Interrupt. */ - FLEXCAN_ClearStatusFlags(base, kFLEXCAN_TxWarningIntFlag | kFLEXCAN_RxWarningIntFlag | - kFLEXCAN_BusOffIntFlag | kFLEXCAN_ErrorIntFlag | kFLEXCAN_WakeUpIntFlag); - } - /* Solve FlexCAN Rx FIFO & Message Buffer Interrupt. */ - else - { - /* For this implementation, we solve the Message with lowest MB index first. */ - for (result = 0; result < 10/* FSL_FEATURE_FLEXCAN_HAS_MESSAGE_BUFFER_MAX_NUMBERn(base) */; result++) - { - /* Get the lowest unhandled Message Buffer */ - if ((FLEXCAN_GetMbStatusFlags(base, 1 << result)) && (FLEXCAN_IsMbIntEnabled(base, result))) - { - break; - } - } - - /* Does not find Message to deal with. */ - if (result == 10) - { - break; - } - - /* Solve Rx FIFO interrupt. */ - if ((kFLEXCAN_StateIdle != handle->rxFifoState) && ((1 << result) <= kFLEXCAN_RxFifoOverflowFlag)) - { - switch (1 << result) - { - case kFLEXCAN_RxFifoOverflowFlag: - status = kStatus_FLEXCAN_RxFifoOverflow; - break; - - case kFLEXCAN_RxFifoWarningFlag: - status = kStatus_FLEXCAN_RxFifoWarning; - break; - - case kFLEXCAN_RxFifoFrameAvlFlag: - status = FLEXCAN_ReadRxFifo(base, handle->rxFifoFrameBuf); - if (kStatus_Success == status) - { - status = kStatus_FLEXCAN_RxFifoIdle; - } - FLEXCAN_TransferAbortReceiveFifo(base, handle); - break; - - default: - status = kStatus_FLEXCAN_UnHandled; - break; - } - } - else - { - /* Get current State of Message Buffer. */ - switch (handle->mbState[result]) - { -#if 0 - /* Solve Rx Data Frame. */ - case kFLEXCAN_StateRxData: - status = FLEXCAN_ReadRxMb(base, result, handle->mbFrameBuf[result]); - if (kStatus_Success == status) - { - status = kStatus_FLEXCAN_RxIdle; - } - FLEXCAN_TransferAbortReceive(base, handle, result); - break; - - /* Solve Rx Remote Frame. */ - case kFLEXCAN_StateRxRemote: - status = FLEXCAN_ReadRxMb(base, result, handle->mbFrameBuf[result]); - if (kStatus_Success == status) - { - status = kStatus_FLEXCAN_RxIdle; - } - FLEXCAN_TransferAbortReceive(base, handle, result); - break; -#endif - /* Solve Tx Remote Frame. */ - case kFLEXCAN_StateTxRemote: /* fall through */ - /* Solve Tx Data Frame. */ - case kFLEXCAN_StateTxData: - status = kStatus_FLEXCAN_TxIdle; - FLEXCAN_TransferAbortSend(base, handle, result); - break; - - default: - status = kStatus_FLEXCAN_UnHandled; - break; - } - } - - /* Clear resolved Message Buffer IRQ. */ - FLEXCAN_ClearMbStatusFlags(base, 1 << result); - } - - /* Calling Callback Function if has one. */ - if (handle->callback != NULL) - { - if (handle->callback(base, handle, status, result, handle->userData) == pdTRUE) - reschedule = pdTRUE; - } - - /* Reset return status */ - status = kStatus_FLEXCAN_UnHandled; - - /* Store Current FlexCAN Module Error and Status. */ - result = base->ESR1; - } -#if (defined(FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER)) && (FSL_FEATURE_FLEXCAN_HAS_EXTENDED_FLAG_REGISTER > 0) - while ((0 != FLEXCAN_GetMbStatusFlags(base, 0xFFFFFFFFFFFFFFFFU)) || - (0 != (result & (kFLEXCAN_TxWarningIntFlag | kFLEXCAN_RxWarningIntFlag | kFLEXCAN_BusOffIntFlag | - kFLEXCAN_ErrorIntFlag | kFLEXCAN_WakeUpIntFlag)))); -#else - while ((0 != FLEXCAN_GetMbStatusFlags(base, 0xFFFFFFFFU)) || - (0 != (result & (kFLEXCAN_TxWarningIntFlag | kFLEXCAN_RxWarningIntFlag | kFLEXCAN_BusOffIntFlag | - kFLEXCAN_ErrorIntFlag | kFLEXCAN_WakeUpIntFlag)))); -#endif - portYIELD_FROM_ISR(reschedule); -} - -#if defined(CAN0) -void CAN0_DriverIRQHandler(void) -{ - assert(s_flexcanHandle[0]); - - s_flexcanIsr(CAN0, s_flexcanHandle[0]); -} -#endif - -#if defined(CAN1) -void CAN1_DriverIRQHandler(void) -{ - assert(s_flexcanHandle[1]); - - s_flexcanIsr(CAN1, s_flexcanHandle[1]); -} -#endif - -#if defined(CAN2) -void CAN2_DriverIRQHandler(void) -{ - assert(s_flexcanHandle[2]); - - s_flexcanIsr(CAN2, s_flexcanHandle[2]); -} -#endif - -#if defined(CAN3) -void CAN3_DriverIRQHandler(void) -{ - assert(s_flexcanHandle[3]); - - s_flexcanIsr(CAN3, s_flexcanHandle[3]); -} -#endif - -#if defined(CAN4) -void CAN4_DriverIRQHandler(void) -{ - assert(s_flexcanHandle[4]); - - s_flexcanIsr(CAN4, s_flexcanHandle[4]); -} -#endif - -#if defined(DMA_CAN0) -void DMA_FLEXCAN0_DriverIRQHandler(void) -{ - assert(s_flexcanHandle[FLEXCAN_GetInstance(DMA_CAN0)]); - - s_flexcanIsr(DMA_CAN0, s_flexcanHandle[FLEXCAN_GetInstance(DMA_CAN0)]); -} -#endif - -#if defined(DMA_CAN1) -void DMA_FLEXCAN1_DriverIRQHandler(void) -{ - assert(s_flexcanHandle[FLEXCAN_GetInstance(DMA_CAN1)]); - - s_flexcanIsr(DMA_CAN0, s_flexcanHandle[FLEXCAN_GetInstance(DMA_CAN1)]); -} -#endif - -#if defined(DMA_CAN2) -void DMA_FLEXCAN2_DriverIRQHandler(void) -{ - assert(s_flexcanHandle[FLEXCAN_GetInstance(DMA_CAN2)]); - - s_flexcanIsr(DMA_CAN2, s_flexcanHandle[FLEXCAN_GetInstance(DMA_CAN2)]); -} -#endif |