1 /* Copyright (C) 2013-2015 Czech Technical University in Prague
4 * - Carlos Jenkins <carlos@jenkins.co.cr>
5 * - Karolína Burešová <karry@karryanna.cz>
7 * This document contains proprietary information belonging to Czech
8 * Technical University in Prague. Passing on and copying of this
9 * document, and communication of its contents is not permitted
10 * without prior written authorization.
14 * CAN Bus Communication RPP API implementation file.
18 * RPP API documentation.
24 #include "sys/ti_drv_dmm.h"
26 static const struct rpp_can_config *can_config = NULL;
28 typedef volatile struct CANBase {
29 uint32_t CTL; /**< 0x0000: Control Register */
30 uint32_t ES; /**< 0x0004: Error and Status Register */
31 uint32_t EERC; /**< 0x0008: Error Counter Register */
32 uint32_t BTR; /**< 0x000C: Bit Timing Register */
33 uint32_t INT; /**< 0x0010: Interrupt Register */
34 uint32_t TEST; /**< 0x0014: Test Register */
35 uint32_t : 32U; /**< 0x0018: Reserved */
36 uint32_t PERR; /**< 0x001C: Parity/SECDED Error Code Register */
37 uint32_t REL; /**< 0x0020: Core Release Register */
38 uint32_t ECCDIAG; /**< 0x0024: ECC Diagnostic Register */
39 uint32_t ECCDIADSTAT; /**< 0x0028: ECC Diagnostic Status Register */
40 uint32_t : 32U; /**< 0x002C: Reserved */
41 uint32_t : 32U; /**< 0x0030: Reserved */
42 uint32_t : 32U; /**< 0x0034: Reserved */
43 uint32_t : 32U; /**< 0x0038: Reserved */
44 uint32_t : 32U; /**< 0x003C: Reserved */
45 uint32_t : 32U; /**< 0x0040: Reserved */
46 uint32_t : 32U; /**< 0x0044: Reserved */
47 uint32_t : 32U; /**< 0x0048: Reserved */
48 uint32_t : 32U; /**< 0x004C: Reserved */
49 uint32_t : 32U; /**< 0x0050: Reserved */
50 uint32_t : 32U; /**< 0x0054: Reserved */
51 uint32_t : 32U; /**< 0x0058: Reserved */
52 uint32_t : 32U; /**< 0x005C: Reserved */
53 uint32_t : 32U; /**< 0x0060: Reserved */
54 uint32_t : 32U; /**< 0x0064: Reserved */
55 uint32_t : 32U; /**< 0x0068: Reserved */
56 uint32_t : 32U; /**< 0x006C: Reserved */
57 uint32_t : 32U; /**< 0x0070: Reserved */
58 uint32_t : 32U; /**< 0x0074: Reserved */
59 uint32_t : 32U; /**< 0x0078: Reserved */
60 uint32_t : 32U; /**< 0x007C: Reserved */
61 uint32_t ABOTR; /**< 0x0080: Auto Bus On Time Register */
62 uint32_t TXRQX; /**< 0x0084: Transmission Request X Register */
63 uint32_t TXRQx[4U]; /**< 0x0088-0x0094: Transmission Request Registers */
64 uint32_t NWDATX; /**< 0x0098: New Data X Register */
65 uint32_t NWDATx[4U]; /**< 0x009C-0x00A8: New Data Registers */
66 uint32_t INTPNDX; /**< 0x00AC: Interrupt Pending X Register */
67 uint32_t INTPNDx[4U]; /**< 0x00B0-0x00BC: Interrupt Pending Registers */
68 uint32_t MSGVALX; /**< 0x00C0: Message Valid X Register */
69 uint32_t MSGVALx[4U]; /**< 0x00C4-0x00D0: Message Valid Registers */
70 uint32_t : 32U; /**< 0x00D4: Reserved */
71 uint32_t INTMUXx[4U]; /**< 0x00D8-0x00E4: Interrupt Multiplexer Registers */
72 uint32_t : 32U; /**< 0x00E8: Reserved */
73 uint32_t : 32U; /**< 0x00EC: Reserved */
74 uint32_t : 32U; /**< 0x00F0: Reserved */
75 uint32_t : 32U; /**< 0x00F4: Reserved */
76 uint32_t : 32U; /**< 0x00F8: Reserved */
77 uint32_t : 32U; /**< 0x00FC: Reserved */
78 #if ((__little_endian__ == 1) || (__LITTLE_ENDIAN__ == 1))
79 uint8_t IF1NO; /**< 0x0100: IF1 Command Register, Msg Number */
80 uint8_t IF1STAT; /**< 0x0100: IF1 Command Register, Status */
81 uint8_t IF1CMD; /**< 0x0100: IF1 Command Register, Command */
82 uint32_t : 8U; /**< 0x0100: IF1 Command Register, Reserved */
84 uint32_t : 8U; /**< 0x0100: IF1 Command Register, Reserved */
85 uint8_t IF1CMD; /**< 0x0100: IF1 Command Register, Command */
86 uint8_t IF1STAT; /**< 0x0100: IF1 Command Register, Status */
87 uint8_t IF1NO; /**< 0x0100: IF1 Command Register, Msg Number */
89 uint32_t IF1MSK; /**< 0x0104: IF1 Mask Register */
90 uint32_t IF1ARB; /**< 0x0108: IF1 Arbitration Register */
91 uint32_t IF1MCTL; /**< 0x010C: IF1 Message Control Register */
92 uint8_t IF1DATx[8U]; /**< 0x0110-0x0114: IF1 Data A and B Registers */
93 uint32_t : 32U; /**< 0x0118: Reserved */
94 uint32_t : 32U; /**< 0x011C: Reserved */
95 #if ((__little_endian__ == 1) || (__LITTLE_ENDIAN__ == 1))
96 uint8_t IF2NO; /**< 0x0120: IF2 Command Register, Msg No */
97 uint8_t IF2STAT; /**< 0x0120: IF2 Command Register, Status */
98 uint8_t IF2CMD; /**< 0x0120: IF2 Command Register, Command */
99 uint32_t : 8U; /**< 0x0120: IF2 Command Register, Reserved */
101 uint32_t : 8U; /**< 0x0120: IF2 Command Register, Reserved */
102 uint8_t IF2CMD; /**< 0x0120: IF2 Command Register, Command */
103 uint8_t IF2STAT; /**< 0x0120: IF2 Command Register, Status */
104 uint8_t IF2NO; /**< 0x0120: IF2 Command Register, Msg Number */
106 uint32_t IF2MSK; /**< 0x0124: IF2 Mask Register */
107 uint32_t IF2ARB; /**< 0x0128: IF2 Arbitration Register */
108 uint32_t IF2MCTL; /**< 0x012C: IF2 Message Control Register */
109 uint8_t IF2DATx[8U]; /**< 0x0130-0x0134: IF2 Data A and B Registers */
110 uint32_t : 32U; /**< 0x0138: Reserved */
111 uint32_t : 32U; /**< 0x013C: Reserved */
112 uint32_t IF3OBS; /**< 0x0140: IF3 Observation Register */
113 uint32_t IF3MSK; /**< 0x0144: IF3 Mask Register */
114 uint32_t IF3ARB; /**< 0x0148: IF3 Arbitration Register */
115 uint32_t IF3MCTL; /**< 0x014C: IF3 Message Control Register */
116 uint8_t IF3DATx[8U]; /**< 0x0150-0x0154: IF3 Data A and B Registers */
117 uint32_t : 32U; /**< 0x0158: Reserved */
118 uint32_t : 32U; /**< 0x015C: Reserved */
119 uint32_t IF3UEy[4U]; /**< 0x0160-0x016C: IF3 Update Enable Registers */
120 uint32_t : 32U; /**< 0x0170: Reserved */
121 uint32_t : 32U; /**< 0x0174: Reserved */
122 uint32_t : 32U; /**< 0x0178: Reserved */
123 uint32_t : 32U; /**< 0x017C: Reserved */
124 uint32_t : 32U; /**< 0x0180: Reserved */
125 uint32_t : 32U; /**< 0x0184: Reserved */
126 uint32_t : 32U; /**< 0x0188: Reserved */
127 uint32_t : 32U; /**< 0x018C: Reserved */
128 uint32_t : 32U; /**< 0x0190: Reserved */
129 uint32_t : 32U; /**< 0x0194: Reserved */
130 uint32_t : 32U; /**< 0x0198: Reserved */
131 uint32_t : 32U; /**< 0x019C: Reserved */
132 uint32_t : 32U; /**< 0x01A0: Reserved */
133 uint32_t : 32U; /**< 0x01A4: Reserved */
134 uint32_t : 32U; /**< 0x01A8: Reserved */
135 uint32_t : 32U; /**< 0x01AC: Reserved */
136 uint32_t : 32U; /**< 0x01B0: Reserved */
137 uint32_t : 32U; /**< 0x01B4: Reserved */
138 uint32_t : 32U; /**< 0x01B8: Reserved */
139 uint32_t : 32U; /**< 0x01BC: Reserved */
140 uint32_t : 32U; /**< 0x01C0: Reserved */
141 uint32_t : 32U; /**< 0x01C4: Reserved */
142 uint32_t : 32U; /**< 0x01C8: Reserved */
143 uint32_t : 32U; /**< 0x01CC: Reserved */
144 uint32_t : 32U; /**< 0x01D0: Reserved */
145 uint32_t : 32U; /**< 0x01D4: Reserved */
146 uint32_t : 32U; /**< 0x01D8: Reserved */
147 uint32_t : 32U; /**< 0x01DC: Reserved */
148 uint32_t TIOC; /**< 0x01E0: TX IO Control Register */
149 uint32_t RIOC; /**< 0x01E4: RX IO Control Register */
152 #define canREG1 ((canBASE_t *)0xFFF7DC00U)
153 #define canREG2 ((canBASE_t *)0xFFF7DE00U)
154 #define canREG3 ((canBASE_t *)0xFFF7E000U)
156 #ifndef __little_endian__
157 static const uint32_t s_can_byte_order[] = {3, 2, 1, 0, 7, 6, 5, 4};
160 static canBASE_t *can_base[3] = { canREG1, canREG2, canREG3 };
162 static inline canBASE_t *map_controller(uint8_t controller)
164 if (controller < 1 || controller > 3)
166 return can_base[controller - 1];
170 static int8_t init_tx_box(struct rpp_can_tx_config cfg)
172 canBASE_t *controller;
174 if (!(controller = map_controller(cfg.controller)))
177 // Wait until IF1 is ready to use
178 while (controller->IF1STAT & (1U << 7)) ;
181 * 31 Set whether use of std/ext ID should have effect on acceptance filtering
184 case RPP_CAN_STANDARD:
185 controller->IF1MSK = 0U << 31;
188 controller->IF1MSK = 1U << 31;
190 case RPP_CAN_EXTENDED:
191 controller->IF1MSK = 1U << 31;
196 * 31 Message object is valid
197 * 30 Set whether to use extented identifier
198 * 29 Set direction as transmit
200 controller->IF1ARB = (1U << 31)
201 | ((cfg.type == RPP_CAN_STANDARD ? 0 : 1) << 30)
206 * 4-1 Data length code
208 controller->IF1MCTL = (1 << 7)
212 * Note that IF1CMD does not refer to whole CMD register
213 * (it refers to bits 23-16 of that register)
214 * 7 Transfer from IF to message object
215 * 5 Transfer arbitration bits
216 * 4 Transfer control bits
218 controller->IF1CMD = (1U << 7)
222 // Write MSG object number and enable transfer
223 controller->IF1NO = cfg.msg_obj;
228 static int8_t init_rx_box(struct rpp_can_rx_config cfg)
230 canBASE_t *controller;
232 if (!(controller = map_controller(cfg.controller)))
235 // Wait until IF2 is ready to use
236 while (controller->IF2STAT & (1U << 7)) ;
239 * 31 Set whether use of std/ext ID should have effect on acceptance filtering
243 case RPP_CAN_STANDARD:
244 controller->IF2MSK = (1U << 31) | (cfg.mask << 18);
247 controller->IF2MSK = (0U << 31) | cfg.mask;
249 case RPP_CAN_EXTENDED:
250 controller->IF2MSK = (1U << 31) | cfg.mask;
255 * 31 Message object is valid
256 * 30 Set whether extended ID should be used
257 * 29 Direction is read
258 * 28-18 / 28-1 Object ID
260 controller->IF2ARB = (1U << 31) // MsgVal
261 | ((cfg.type == RPP_CAN_STANDARD ? 0 : 1) << 30)
263 | cfg.id << (cfg.type == RPP_CAN_STANDARD ? 18 : 0);
265 * 12 Use mask for filtering
267 * 4-1 Data length code
269 controller->IF2MCTL = (1 << 12)
274 * Note that IF2CMD does not refer to whole CMD register
275 * (it refers to bits 23-16 of that register)
276 * 7 Transfer from IF to message object
277 * 6 Transfer mask bits
278 * 5 Transfer arbitration bits
279 * 4 Transfer control bits
281 controller->IF2CMD = (1 << 7)
286 // Write MSG object number and enable transfer
287 controller->IF2NO = cfg.msg_obj;
294 static int8_t can_reset(canBASE_t *controller)
297 * 6 Request write access to config registers
298 * 0 Enter initialization mode
305 controller->ABOTR = 0;
307 controller->TIOC = (0 << 0);
308 controller->RIOC = (0 << 0);
313 static int8_t can_set_timing(canBASE_t *controller, const struct rpp_can_timing_cfg cfg)
315 controller->BTR = (((cfg.brp-1) >> 6) << 16)
316 | ((cfg.phase_seg2-1) << 12)
317 | (((cfg.phase_seg1+cfg.prop_seg)-1) << 8)
319 | ((cfg.brp-1) & 63);
323 /* This code has been taken from can-calc-bit-timing.c */
324 /* can-calc-bit-timing.c: Calculate CAN bit timing parameters
327 * can_baud.c - CAN baudrate calculation
328 * Code based on LinCAN sources and H8S2638 project
329 * Copyright 2004-2006 Pavel Pisa - DCE FELK CVUT cz
330 * Copyright 2005 Stanislav Marek
331 * email:pisa@cmp.felk.cvut.cz
333 * With permission from Pavel Pisa to distribute the code and
334 * software under other license than GPL.
336 static int can_update_spt(int phase_seg2_min, int phase_seg2_max, int prop_seg_max, int phase_seg1_max,
337 int sampl_pt, int tseg, int *tseg1, int *tseg2)
339 *tseg2 = tseg + 1 - (sampl_pt * (tseg + 1)) / 1000;
340 if (*tseg2 < phase_seg2_min)
341 *tseg2 = phase_seg2_min;
342 if (*tseg2 > phase_seg2_max)
343 *tseg2 = phase_seg2_max;
344 *tseg1 = tseg - *tseg2;
345 if (*tseg1 > prop_seg_max + phase_seg1_max) {
346 *tseg1 = prop_seg_max + phase_seg1_max;
347 *tseg2 = tseg - *tseg1;
349 return 1000 * (tseg + 1 - *tseg2) / (tseg + 1);
352 /* This code has been taken from can-calc-bit-timing.c */
353 /* can-calc-bit-timing.c: Calculate CAN bit timing parameters
356 * can_baud.c - CAN baudrate calculation
357 * Code based on LinCAN sources and H8S2638 project
358 * Copyright 2004-2006 Pavel Pisa - DCE FELK CVUT cz
359 * Copyright 2005 Stanislav Marek
360 * email:pisa@cmp.felk.cvut.cz
362 * With permission from Pavel Pisa to distribute the code and
363 * software under other license than GPL.
365 static int8_t can_calculate_timing(const struct rpp_can_ctrl_config cfg, struct rpp_can_calculated_timing *timing)
367 static const int prop_seg_min = 1;
368 static const int prop_seg_max = 8;
369 static const int phase_seg1_min = 1;
370 static const int phase_seg1_max = 8;
371 static const int phase_seg2_min = 1;
372 static const int phase_seg2_max = 8;
373 static const int brp_min = 1;
374 static const int brp_max = 64;
375 static const int brp_inc = 1;
381 long best_error = 1000000000, error;
382 int best_tseg = 0, best_brp = 0, brp = 0;
383 int spt_error = 1000, spt = 0;
385 int tseg = 0, tseg1 = 0, tseg2 = 0;
388 /* Use CIA recommended sample points */
389 if (cfg.baudrate > 800000)
391 else if (cfg.baudrate > 500000)
396 /* tseg even = round down, odd = round up */
397 for (tseg = (prop_seg_max + phase_seg1_max + phase_seg2_max) * 2 + 1;
398 tseg >= (prop_seg_min + phase_seg1_min + phase_seg2_min) * 2;
400 /* Compute all posibilities of tseg choices (tseg=tseg1+tseg2) */
401 brp = cfg.clk / ((1 + tseg / 2) * cfg.baudrate) + tseg % 2;
402 /* chose brp step which is possible in system */
403 brp = (brp / brp_inc) * brp_inc;
404 if ((brp < brp_min) || (brp > brp_max))
406 rate = cfg.clk / (brp * (1 + tseg / 2));
407 error = cfg.baudrate - rate;
408 /* tseg brp biterror */
412 if (error > best_error)
416 spt = can_update_spt(phase_seg2_min, phase_seg2_max, prop_seg_max, phase_seg1_max, sampl_pt, tseg / 2, &tseg1, &tseg2);
417 error = sampl_pt - spt;
420 if (error > spt_error)
424 best_tseg = tseg / 2;
430 if (best_error && (cfg.baudrate / best_error < 10))
433 tseg2 = best_tseg + 1 - (sampl_pt * (best_tseg + 1)) / 1000;
434 spt = can_update_spt(phase_seg2_min, phase_seg2_max, prop_seg_max, phase_seg1_max, sampl_pt, best_tseg, &tseg1, &tseg2);
437 /* sample point < 50% */
438 timing->timing_base_cfg.phase_seg1 = tseg1 / 2;
440 /* keep phase_seg{1,2} equal around the sample point */
441 timing->timing_base_cfg.phase_seg1 = tseg2;
442 timing->timing_base_cfg.prop_seg = tseg1 - timing->timing_base_cfg.phase_seg1;
443 /* Check prop_seg range if necessary */
444 if (prop_seg_min || prop_seg_max) {
445 if (timing->timing_base_cfg.prop_seg < prop_seg_min)
446 timing->timing_base_cfg.prop_seg = prop_seg_min;
447 else if (timing->timing_base_cfg.prop_seg > prop_seg_max)
448 timing->timing_base_cfg.prop_seg = prop_seg_max;
449 timing->timing_base_cfg.phase_seg1 = tseg1 - timing->timing_base_cfg.prop_seg;
451 timing->timing_base_cfg.phase_seg2 = tseg2;
452 timing->timing_base_cfg.sjw = 1;
453 timing->timing_base_cfg.brp = best_brp;
454 timing->timing_info.error = best_error;
455 timing->timing_info.sampl_pt = spt;
456 v64 = (uint64_t)timing->timing_base_cfg.brp * 1000000000UL;
458 timing->timing_info.tq = (int)v64;
463 static int8_t can_configure(canBASE_t *controller, const struct rpp_can_ctrl_config cfg)
465 if (cfg.timing_calc_method == RPP_CAN_TIMING_CALC_AUTO) {
466 struct rpp_can_calculated_timing timing_cfg;
467 if (can_calculate_timing(cfg, &timing_cfg) == SUCCESS)
468 return can_set_timing(controller, timing_cfg.timing_base_cfg);
472 else if (cfg.timing_calc_method == RPP_CAN_TIMING_CALC_MANUAL && cfg.timing_config != NULL)
473 return can_set_timing(controller, *cfg.timing_config);
478 static inline void can_leave_init(canBASE_t *controller)
480 controller->CTL &= ~( (1 << 6) | (1 << 0) );
484 static int8_t reset_box(canBASE_t *controller, uint32_t msg_obj)
486 // Wait until IF1 is ready
487 while (controller->IF1STAT & (1U << 7)) ;
489 controller->IF1MSK = 0;
490 controller->IF1ARB = 0;
491 controller->IF1MCTL = (1 << 7) | 8;
492 controller->IF1CMD = (1 << 7)
496 controller->IF1NO = msg_obj;
501 static int8_t reset_boxes(void)
505 for (i = 1; i <= 64; i++) {
506 reset_box(canREG1, i);
509 for (i = 1; i <= 64; i++) {
510 reset_box(canREG2, i);
513 for (i = 1; i <= 32; i++) {
514 reset_box(canREG3, i);
520 int8_t can_setup_IF(canBASE_t *controller)
522 // Wait until IF1 is ready
523 while (controller->IF1STAT & (1U << 7)) ;
526 * 7 Transfer from IF to message object
527 * 5 Transfer arbitration bits
528 * 4 Transfer control bits
530 * 1 Access data bytes 7-4
531 * 0 Access data bytes 3-0
533 controller->IF1CMD = (1 << 7)
540 // Wait until IF2 is ready
541 while (controller->IF2STAT & (1U << 7)) ;
544 * 7 Transfer from message object to IF
545 * 5 Transfer arbitration bits
546 * 4 Transfer control bits
548 * 1 Access data bytes 7-4
549 * 0 Access data bytes 3-0
551 controller->IF2CMD = (0 << 7)
561 int8_t rpp_can_init(const struct rpp_can_config *config)
565 #ifdef TARGET_TMS570_RPP
569 * Reset the bus drivers to NORMAL MODE. CAN bus drivers control
570 * voltage regulators for big part of the board and NORMAL MODE
571 * prevents the board from going to sleep mode. Refer TJA1041A
572 * reference for more details about the states of the driver.
574 dmmREG->PC4 = 1<<13; // set CAN_NSTB
575 dmmREG->PC5 = 1<<15; // clr CAN_EN
576 dmmREG->PC5 = 1<<13; // clr CAN_NSTB
577 dmmREG->PC4 = 1<<13; // set CAN_NSTB
578 dmmREG->PC4 = 1<<15; // set CAN_EN
583 if (can_reset(canREG1) == FAILURE)
585 if (can_reset(canREG2) == FAILURE)
587 if (can_reset(canREG3) == FAILURE)
590 if (reset_boxes() == FAILURE)
593 for (i = 0; i < config->num_tx_obj; i++) {
594 if (init_tx_box(config->tx_config[i]) == FAILURE)
598 for (i = 0; i < config->num_rx_obj; i++) {
599 if (init_rx_box(config->rx_config[i]) == FAILURE)
603 if (can_setup_IF(canREG1) == FAILURE)
605 if (can_setup_IF(canREG2) == FAILURE)
607 if (can_setup_IF(canREG3) == FAILURE)
610 if (can_configure(canREG1, config->ctrl[0]) == FAILURE)
612 if (can_configure(canREG2, config->ctrl[1]) == FAILURE)
614 if (can_configure(canREG3, config->ctrl[2]) == FAILURE)
617 can_leave_init(canREG1);
618 can_leave_init(canREG2);
619 can_leave_init(canREG3);
625 int8_t rpp_can_write(rpp_can_hw_obj hw_obj, const struct rpp_can_pdu *pdu)
628 canBASE_t *controller;
629 struct rpp_can_tx_config *tx_cfg = &can_config->tx_config[hw_obj];
631 if (!(controller = map_controller(tx_cfg->controller)))
634 // Wait until IF1 is ready to use
635 while (controller->IF1STAT & (1U << 7)) ;
637 // Reset data length code
638 controller->IF1MCTL &= ~15;
639 controller->IF1MCTL |= pdu->dlc & 0xF;
642 * 31 Message is valid
643 * 30 Whether std/ext ID should be used
644 * 29 Direction is transmit
645 * 28-18 / 28-0 Message ID
647 controller->IF1ARB = (1 << 31)
648 | ((tx_cfg->type == RPP_CAN_STANDARD ? 0 : 1) << 30)
650 | (pdu->id << (tx_cfg->type == RPP_CAN_STANDARD ? 18 : 0));
652 for (i = 0; i < pdu->dlc; i++) {
653 #ifdef __little_endian__
654 controller->IF1DATx[i] = pdu->data[i];
656 controller->IF1DATx[s_can_byte_order[i]] = pdu->data[i];
660 // Copy TX data into message box
661 controller->IF1NO = tx_cfg->msg_obj;
667 int8_t rpp_can_check_tx_pend(rpp_can_hw_obj hw_obj, bool *tx_pend)
669 uint32_t reg_index, bit_mask;
670 canBASE_t *controller;
672 if (!(controller = map_controller(can_config->tx_config[hw_obj].controller)))
675 reg_index = can_config->tx_config[hw_obj].msg_obj >> 5;
676 bit_mask = 1 << ((can_config->tx_config[hw_obj].msg_obj - 1) & 0x1FU);
678 *tx_pend = controller->TXRQx[reg_index] & bit_mask;
683 int8_t rpp_can_read(rpp_can_hw_obj hw_obj, struct rpp_can_pdu *pdu)
685 uint32_t reg_index, bit_mask;
687 canBASE_t *controller;
689 if (!(controller = map_controller(can_config->rx_config[hw_obj].controller)))
692 reg_index = (can_config->rx_config[hw_obj].msg_obj - 1) >> 5;
693 bit_mask = 1 << ((can_config->rx_config[hw_obj].msg_obj - 1) & 0x1FU);
695 // FIXME: Check whether to abort if there are no new data
696 if (!(controller->NWDATx[reg_index] & bit_mask))
699 // Wait until IF2 is ready to use
700 while (controller->IF2STAT & (1U << 7)) ;
702 // Copy data into IF2
703 controller->IF2NO = can_config->rx_config[hw_obj].msg_obj;
705 // Wait until IF2 is ready to use
706 while (controller->IF2STAT & (1U << 7)) ;
708 // Get length of data received
709 pdu->dlc = controller->IF2MCTL & 0xFU;
712 if (controller->IF2ARB & (1 << 30))
713 pdu->id = (controller->IF2ARB & 0x1FFFFFFF) | CAN_EFF_FLAG;
715 pdu->id = (controller->IF2ARB & (0x7FF << 18)) >> 18;
717 // Copy RX data into pdu
718 for (i = 0; i < pdu->dlc; i++) {
719 #ifdef __little_endian__
720 pdu->data[i] = controller->IF2DATx[i];
722 pdu->data[i] = controller->IF2DATx[s_can_byte_order[i]];
729 int8_t rpp_can_check_rx_ind(rpp_can_hw_obj hw_obj, bool *rx_ind)
731 uint32_t reg_index, bit_mask;
732 canBASE_t *controller;
734 if (!(controller = map_controller(can_config->rx_config[hw_obj].controller)))
737 reg_index = (can_config->rx_config[hw_obj].msg_obj - 1) >> 5;
738 bit_mask = 1 << ((can_config->rx_config[hw_obj].msg_obj - 1) & 0x1FU);
740 *rx_ind = controller->NWDATx[reg_index] & bit_mask;