/* * 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