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"
25 #include "rpp/mutex.h"
27 RPP_MUTEX_DEFINE(mutex_can);
29 static const struct rpp_can_config *can_config = NULL;
31 typedef volatile struct CANBase {
32 uint32_t CTL; /**< 0x0000: Control Register */
33 uint32_t ES; /**< 0x0004: Error and Status Register */
34 uint32_t EERC; /**< 0x0008: Error Counter Register */
35 uint32_t BTR; /**< 0x000C: Bit Timing Register */
36 uint32_t INT; /**< 0x0010: Interrupt Register */
37 uint32_t TEST; /**< 0x0014: Test Register */
38 uint32_t : 32U; /**< 0x0018: Reserved */
39 uint32_t PERR; /**< 0x001C: Parity/SECDED Error Code Register */
40 uint32_t REL; /**< 0x0020: Core Release Register */
41 uint32_t ECCDIAG; /**< 0x0024: ECC Diagnostic Register */
42 uint32_t ECCDIADSTAT; /**< 0x0028: ECC Diagnostic Status Register */
43 uint32_t : 32U; /**< 0x002C: Reserved */
44 uint32_t : 32U; /**< 0x0030: Reserved */
45 uint32_t : 32U; /**< 0x0034: Reserved */
46 uint32_t : 32U; /**< 0x0038: Reserved */
47 uint32_t : 32U; /**< 0x003C: Reserved */
48 uint32_t : 32U; /**< 0x0040: Reserved */
49 uint32_t : 32U; /**< 0x0044: Reserved */
50 uint32_t : 32U; /**< 0x0048: Reserved */
51 uint32_t : 32U; /**< 0x004C: Reserved */
52 uint32_t : 32U; /**< 0x0050: Reserved */
53 uint32_t : 32U; /**< 0x0054: Reserved */
54 uint32_t : 32U; /**< 0x0058: Reserved */
55 uint32_t : 32U; /**< 0x005C: Reserved */
56 uint32_t : 32U; /**< 0x0060: Reserved */
57 uint32_t : 32U; /**< 0x0064: Reserved */
58 uint32_t : 32U; /**< 0x0068: Reserved */
59 uint32_t : 32U; /**< 0x006C: Reserved */
60 uint32_t : 32U; /**< 0x0070: Reserved */
61 uint32_t : 32U; /**< 0x0074: Reserved */
62 uint32_t : 32U; /**< 0x0078: Reserved */
63 uint32_t : 32U; /**< 0x007C: Reserved */
64 uint32_t ABOTR; /**< 0x0080: Auto Bus On Time Register */
65 uint32_t TXRQX; /**< 0x0084: Transmission Request X Register */
66 uint32_t TXRQx[4U]; /**< 0x0088-0x0094: Transmission Request Registers */
67 uint32_t NWDATX; /**< 0x0098: New Data X Register */
68 uint32_t NWDATx[4U]; /**< 0x009C-0x00A8: New Data Registers */
69 uint32_t INTPNDX; /**< 0x00AC: Interrupt Pending X Register */
70 uint32_t INTPNDx[4U]; /**< 0x00B0-0x00BC: Interrupt Pending Registers */
71 uint32_t MSGVALX; /**< 0x00C0: Message Valid X Register */
72 uint32_t MSGVALx[4U]; /**< 0x00C4-0x00D0: Message Valid Registers */
73 uint32_t : 32U; /**< 0x00D4: Reserved */
74 uint32_t INTMUXx[4U]; /**< 0x00D8-0x00E4: Interrupt Multiplexer Registers */
75 uint32_t : 32U; /**< 0x00E8: Reserved */
76 uint32_t : 32U; /**< 0x00EC: Reserved */
77 uint32_t : 32U; /**< 0x00F0: Reserved */
78 uint32_t : 32U; /**< 0x00F4: Reserved */
79 uint32_t : 32U; /**< 0x00F8: Reserved */
80 uint32_t : 32U; /**< 0x00FC: Reserved */
81 #if ((__little_endian__ == 1) || (__LITTLE_ENDIAN__ == 1))
82 uint8_t IF1NO; /**< 0x0100: IF1 Command Register, Msg Number */
83 uint8_t IF1STAT; /**< 0x0100: IF1 Command Register, Status */
84 uint8_t IF1CMD; /**< 0x0100: IF1 Command Register, Command */
85 uint32_t : 8U; /**< 0x0100: IF1 Command Register, Reserved */
87 uint32_t : 8U; /**< 0x0100: IF1 Command Register, Reserved */
88 uint8_t IF1CMD; /**< 0x0100: IF1 Command Register, Command */
89 uint8_t IF1STAT; /**< 0x0100: IF1 Command Register, Status */
90 uint8_t IF1NO; /**< 0x0100: IF1 Command Register, Msg Number */
92 uint32_t IF1MSK; /**< 0x0104: IF1 Mask Register */
93 uint32_t IF1ARB; /**< 0x0108: IF1 Arbitration Register */
94 uint32_t IF1MCTL; /**< 0x010C: IF1 Message Control Register */
95 uint8_t IF1DATx[8U]; /**< 0x0110-0x0114: IF1 Data A and B Registers */
96 uint32_t : 32U; /**< 0x0118: Reserved */
97 uint32_t : 32U; /**< 0x011C: Reserved */
98 #if ((__little_endian__ == 1) || (__LITTLE_ENDIAN__ == 1))
99 uint8_t IF2NO; /**< 0x0120: IF2 Command Register, Msg No */
100 uint8_t IF2STAT; /**< 0x0120: IF2 Command Register, Status */
101 uint8_t IF2CMD; /**< 0x0120: IF2 Command Register, Command */
102 uint32_t : 8U; /**< 0x0120: IF2 Command Register, Reserved */
104 uint32_t : 8U; /**< 0x0120: IF2 Command Register, Reserved */
105 uint8_t IF2CMD; /**< 0x0120: IF2 Command Register, Command */
106 uint8_t IF2STAT; /**< 0x0120: IF2 Command Register, Status */
107 uint8_t IF2NO; /**< 0x0120: IF2 Command Register, Msg Number */
109 uint32_t IF2MSK; /**< 0x0124: IF2 Mask Register */
110 uint32_t IF2ARB; /**< 0x0128: IF2 Arbitration Register */
111 uint32_t IF2MCTL; /**< 0x012C: IF2 Message Control Register */
112 uint8_t IF2DATx[8U]; /**< 0x0130-0x0134: IF2 Data A and B Registers */
113 uint32_t : 32U; /**< 0x0138: Reserved */
114 uint32_t : 32U; /**< 0x013C: Reserved */
115 uint32_t IF3OBS; /**< 0x0140: IF3 Observation Register */
116 uint32_t IF3MSK; /**< 0x0144: IF3 Mask Register */
117 uint32_t IF3ARB; /**< 0x0148: IF3 Arbitration Register */
118 uint32_t IF3MCTL; /**< 0x014C: IF3 Message Control Register */
119 uint8_t IF3DATx[8U]; /**< 0x0150-0x0154: IF3 Data A and B Registers */
120 uint32_t : 32U; /**< 0x0158: Reserved */
121 uint32_t : 32U; /**< 0x015C: Reserved */
122 uint32_t IF3UEy[4U]; /**< 0x0160-0x016C: IF3 Update Enable Registers */
123 uint32_t : 32U; /**< 0x0170: Reserved */
124 uint32_t : 32U; /**< 0x0174: Reserved */
125 uint32_t : 32U; /**< 0x0178: Reserved */
126 uint32_t : 32U; /**< 0x017C: Reserved */
127 uint32_t : 32U; /**< 0x0180: Reserved */
128 uint32_t : 32U; /**< 0x0184: Reserved */
129 uint32_t : 32U; /**< 0x0188: Reserved */
130 uint32_t : 32U; /**< 0x018C: Reserved */
131 uint32_t : 32U; /**< 0x0190: Reserved */
132 uint32_t : 32U; /**< 0x0194: Reserved */
133 uint32_t : 32U; /**< 0x0198: Reserved */
134 uint32_t : 32U; /**< 0x019C: Reserved */
135 uint32_t : 32U; /**< 0x01A0: Reserved */
136 uint32_t : 32U; /**< 0x01A4: Reserved */
137 uint32_t : 32U; /**< 0x01A8: Reserved */
138 uint32_t : 32U; /**< 0x01AC: Reserved */
139 uint32_t : 32U; /**< 0x01B0: Reserved */
140 uint32_t : 32U; /**< 0x01B4: Reserved */
141 uint32_t : 32U; /**< 0x01B8: Reserved */
142 uint32_t : 32U; /**< 0x01BC: Reserved */
143 uint32_t : 32U; /**< 0x01C0: Reserved */
144 uint32_t : 32U; /**< 0x01C4: Reserved */
145 uint32_t : 32U; /**< 0x01C8: Reserved */
146 uint32_t : 32U; /**< 0x01CC: Reserved */
147 uint32_t : 32U; /**< 0x01D0: Reserved */
148 uint32_t : 32U; /**< 0x01D4: Reserved */
149 uint32_t : 32U; /**< 0x01D8: Reserved */
150 uint32_t : 32U; /**< 0x01DC: Reserved */
151 uint32_t TIOC; /**< 0x01E0: TX IO Control Register */
152 uint32_t RIOC; /**< 0x01E4: RX IO Control Register */
155 #define canREG1 ((canBASE_t *)0xFFF7DC00U)
156 #define canREG2 ((canBASE_t *)0xFFF7DE00U)
157 #define canREG3 ((canBASE_t *)0xFFF7E000U)
159 #ifndef __little_endian__
160 static const uint32_t s_can_byte_order[] = {3, 2, 1, 0, 7, 6, 5, 4};
163 static canBASE_t *can_base[3] = { canREG1, canREG2, canREG3 };
165 static inline canBASE_t *map_controller(uint8_t controller)
167 if (controller < 1 || controller > 3)
169 return can_base[controller - 1];
173 static int8_t init_tx_box(struct rpp_can_tx_config cfg)
175 canBASE_t *controller;
177 if (!(controller = map_controller(cfg.controller)))
180 // Wait until IF1 is ready to use
181 while (controller->IF1STAT & (1U << 7)) ;
184 * 31 Set whether use of std/ext ID should have effect on acceptance filtering
187 case RPP_CAN_STANDARD:
188 controller->IF1MSK = 0U << 31;
191 controller->IF1MSK = 1U << 31;
193 case RPP_CAN_EXTENDED:
194 controller->IF1MSK = 1U << 31;
199 * 31 Message object is valid
200 * 30 Set whether to use extented identifier
201 * 29 Set direction as transmit
203 controller->IF1ARB = (1U << 31)
204 | ((cfg.type == RPP_CAN_STANDARD ? 0 : 1) << 30)
209 * 4-1 Data length code
211 controller->IF1MCTL = (1 << 7)
215 * Note that IF1CMD does not refer to whole CMD register
216 * (it refers to bits 23-16 of that register)
217 * 7 Transfer from IF to message object
218 * 5 Transfer arbitration bits
219 * 4 Transfer control bits
221 controller->IF1CMD = (1U << 7)
225 // Write MSG object number and enable transfer
226 controller->IF1NO = cfg.msg_obj;
231 static int8_t init_rx_box(struct rpp_can_rx_config cfg)
233 canBASE_t *controller;
235 if (!(controller = map_controller(cfg.controller)))
238 // Wait until IF2 is ready to use
239 while (controller->IF2STAT & (1U << 7)) ;
242 * 31 Set whether use of std/ext ID should have effect on acceptance filtering
246 case RPP_CAN_STANDARD:
247 controller->IF2MSK = (1U << 31) | (cfg.mask << 18);
250 controller->IF2MSK = (0U << 31) | cfg.mask;
252 case RPP_CAN_EXTENDED:
253 controller->IF2MSK = (1U << 31) | cfg.mask;
258 * 31 Message object is valid
259 * 30 Set whether extended ID should be used
260 * 29 Direction is read
261 * 28-18 / 28-1 Object ID
263 controller->IF2ARB = (1U << 31) // MsgVal
264 | ((cfg.type == RPP_CAN_STANDARD ? 0 : 1) << 30)
266 | cfg.id << (cfg.type == RPP_CAN_STANDARD ? 18 : 0);
268 * 12 Use mask for filtering
270 * 4-1 Data length code
272 controller->IF2MCTL = (1 << 12)
277 * Note that IF2CMD does not refer to whole CMD register
278 * (it refers to bits 23-16 of that register)
279 * 7 Transfer from IF to message object
280 * 6 Transfer mask bits
281 * 5 Transfer arbitration bits
282 * 4 Transfer control bits
284 controller->IF2CMD = (1 << 7)
289 // Write MSG object number and enable transfer
290 controller->IF2NO = cfg.msg_obj;
297 static int8_t can_reset(canBASE_t *controller)
300 * 6 Request write access to config registers
301 * 0 Enter initialization mode
308 controller->ABOTR = 0;
310 controller->TIOC = (0 << 0);
311 controller->RIOC = (0 << 0);
316 static int8_t can_set_timing(canBASE_t *controller, const struct rpp_can_timing_cfg cfg)
318 controller->BTR = (((cfg.brp-1) >> 6) << 16)
319 | ((cfg.phase_seg2-1) << 12)
320 | (((cfg.phase_seg1+cfg.prop_seg)-1) << 8)
322 | ((cfg.brp-1) & 63);
326 /* This code has been taken from can-calc-bit-timing.c */
327 /* can-calc-bit-timing.c: Calculate CAN bit timing parameters
330 * can_baud.c - CAN baudrate calculation
331 * Code based on LinCAN sources and H8S2638 project
332 * Copyright 2004-2006 Pavel Pisa - DCE FELK CVUT cz
333 * Copyright 2005 Stanislav Marek
334 * email:pisa@cmp.felk.cvut.cz
336 * With permission from Pavel Pisa to distribute the code and
337 * software under other license than GPL.
339 static int can_update_spt(int phase_seg2_min, int phase_seg2_max, int prop_seg_max, int phase_seg1_max,
340 int sampl_pt, int tseg, int *tseg1, int *tseg2)
342 *tseg2 = tseg + 1 - (sampl_pt * (tseg + 1)) / 1000;
343 if (*tseg2 < phase_seg2_min)
344 *tseg2 = phase_seg2_min;
345 if (*tseg2 > phase_seg2_max)
346 *tseg2 = phase_seg2_max;
347 *tseg1 = tseg - *tseg2;
348 if (*tseg1 > prop_seg_max + phase_seg1_max) {
349 *tseg1 = prop_seg_max + phase_seg1_max;
350 *tseg2 = tseg - *tseg1;
352 return 1000 * (tseg + 1 - *tseg2) / (tseg + 1);
355 /* This code has been taken from can-calc-bit-timing.c */
356 /* can-calc-bit-timing.c: Calculate CAN bit timing parameters
359 * can_baud.c - CAN baudrate calculation
360 * Code based on LinCAN sources and H8S2638 project
361 * Copyright 2004-2006 Pavel Pisa - DCE FELK CVUT cz
362 * Copyright 2005 Stanislav Marek
363 * email:pisa@cmp.felk.cvut.cz
365 * With permission from Pavel Pisa to distribute the code and
366 * software under other license than GPL.
368 static int8_t can_calculate_timing(const struct rpp_can_ctrl_config cfg, struct rpp_can_calculated_timing *timing)
370 static const int prop_seg_min = 1;
371 static const int prop_seg_max = 8;
372 static const int phase_seg1_min = 1;
373 static const int phase_seg1_max = 8;
374 static const int phase_seg2_min = 1;
375 static const int phase_seg2_max = 8;
376 static const int brp_min = 1;
377 static const int brp_max = 64;
378 static const int brp_inc = 1;
384 long best_error = 1000000000, error;
385 int best_tseg = 0, best_brp = 0, brp = 0;
386 int spt_error = 1000, spt = 0;
388 int tseg = 0, tseg1 = 0, tseg2 = 0;
391 /* Use CIA recommended sample points */
392 if (cfg.baudrate > 800000)
394 else if (cfg.baudrate > 500000)
399 /* tseg even = round down, odd = round up */
400 for (tseg = (prop_seg_max + phase_seg1_max + phase_seg2_max) * 2 + 1;
401 tseg >= (prop_seg_min + phase_seg1_min + phase_seg2_min) * 2;
403 /* Compute all posibilities of tseg choices (tseg=tseg1+tseg2) */
404 brp = cfg.clk / ((1 + tseg / 2) * cfg.baudrate) + tseg % 2;
405 /* chose brp step which is possible in system */
406 brp = (brp / brp_inc) * brp_inc;
407 if ((brp < brp_min) || (brp > brp_max))
409 rate = cfg.clk / (brp * (1 + tseg / 2));
410 error = cfg.baudrate - rate;
411 /* tseg brp biterror */
415 if (error > best_error)
419 spt = can_update_spt(phase_seg2_min, phase_seg2_max, prop_seg_max, phase_seg1_max, sampl_pt, tseg / 2, &tseg1, &tseg2);
420 error = sampl_pt - spt;
423 if (error > spt_error)
427 best_tseg = tseg / 2;
433 if (best_error && (cfg.baudrate / best_error < 10))
436 tseg2 = best_tseg + 1 - (sampl_pt * (best_tseg + 1)) / 1000;
437 spt = can_update_spt(phase_seg2_min, phase_seg2_max, prop_seg_max, phase_seg1_max, sampl_pt, best_tseg, &tseg1, &tseg2);
440 /* sample point < 50% */
441 timing->timing_base_cfg.phase_seg1 = tseg1 / 2;
443 /* keep phase_seg{1,2} equal around the sample point */
444 timing->timing_base_cfg.phase_seg1 = tseg2;
445 timing->timing_base_cfg.prop_seg = tseg1 - timing->timing_base_cfg.phase_seg1;
446 /* Check prop_seg range if necessary */
447 if (prop_seg_min || prop_seg_max) {
448 if (timing->timing_base_cfg.prop_seg < prop_seg_min)
449 timing->timing_base_cfg.prop_seg = prop_seg_min;
450 else if (timing->timing_base_cfg.prop_seg > prop_seg_max)
451 timing->timing_base_cfg.prop_seg = prop_seg_max;
452 timing->timing_base_cfg.phase_seg1 = tseg1 - timing->timing_base_cfg.prop_seg;
454 timing->timing_base_cfg.phase_seg2 = tseg2;
455 timing->timing_base_cfg.sjw = 1;
456 timing->timing_base_cfg.brp = best_brp;
457 timing->timing_info.error = best_error;
458 timing->timing_info.sampl_pt = spt;
459 v64 = (uint64_t)timing->timing_base_cfg.brp * 1000000000UL;
461 timing->timing_info.tq = (int)v64;
466 static int8_t can_configure(canBASE_t *controller, const struct rpp_can_ctrl_config cfg)
468 if (cfg.timing_calc_method == RPP_CAN_TIMING_CALC_AUTO) {
469 struct rpp_can_calculated_timing timing_cfg;
470 if (can_calculate_timing(cfg, &timing_cfg) == SUCCESS)
471 return can_set_timing(controller, timing_cfg.timing_base_cfg);
475 else if (cfg.timing_calc_method == RPP_CAN_TIMING_CALC_MANUAL && cfg.timing_config != NULL)
476 return can_set_timing(controller, *cfg.timing_config);
481 static inline void can_leave_init(canBASE_t *controller)
483 controller->CTL &= ~( (1 << 6) | (1 << 0) );
487 static int8_t reset_box(canBASE_t *controller, uint32_t msg_obj)
489 // Wait until IF1 is ready
490 while (controller->IF1STAT & (1U << 7)) ;
492 controller->IF1MSK = 0;
493 controller->IF1ARB = 0;
494 controller->IF1MCTL = (1 << 7) | 8;
495 controller->IF1CMD = (1 << 7)
499 controller->IF1NO = msg_obj;
504 static int8_t reset_boxes(void)
508 for (i = 1; i <= 64; i++) {
509 reset_box(canREG1, i);
512 for (i = 1; i <= 64; i++) {
513 reset_box(canREG2, i);
516 for (i = 1; i <= 32; i++) {
517 reset_box(canREG3, i);
523 int8_t can_setup_IF(canBASE_t *controller)
525 // Wait until IF1 is ready
526 while (controller->IF1STAT & (1U << 7)) ;
529 * 7 Transfer from IF to message object
530 * 5 Transfer arbitration bits
531 * 4 Transfer control bits
533 * 1 Access data bytes 7-4
534 * 0 Access data bytes 3-0
536 controller->IF1CMD = (1 << 7)
543 // Wait until IF2 is ready
544 while (controller->IF2STAT & (1U << 7)) ;
547 * 7 Transfer from message object to IF
548 * 5 Transfer arbitration bits
549 * 4 Transfer control bits
551 * 1 Access data bytes 7-4
552 * 0 Access data bytes 3-0
554 controller->IF2CMD = (0 << 7)
564 int8_t rpp_can_init(const struct rpp_can_config *config)
568 if (!RPP_MUTEX_INIT(mutex_can))
571 #ifdef TARGET_TMS570_RPP
575 * Reset the bus drivers to NORMAL MODE. CAN bus drivers control
576 * voltage regulators for big part of the board and NORMAL MODE
577 * prevents the board from going to sleep mode. Refer TJA1041A
578 * reference for more details about the states of the driver.
580 dmmREG->PC4 = 1<<13; // set CAN_NSTB
581 dmmREG->PC5 = 1<<15; // clr CAN_EN
582 dmmREG->PC5 = 1<<13; // clr CAN_NSTB
583 dmmREG->PC4 = 1<<13; // set CAN_NSTB
584 dmmREG->PC4 = 1<<15; // set CAN_EN
589 if (can_reset(canREG1) == FAILURE)
591 if (can_reset(canREG2) == FAILURE)
593 if (can_reset(canREG3) == FAILURE)
596 if (reset_boxes() == FAILURE)
599 for (i = 0; i < config->num_tx_obj; i++) {
600 if (init_tx_box(config->tx_config[i]) == FAILURE)
604 for (i = 0; i < config->num_rx_obj; i++) {
605 if (init_rx_box(config->rx_config[i]) == FAILURE)
609 if (can_setup_IF(canREG1) == FAILURE)
611 if (can_setup_IF(canREG2) == FAILURE)
613 if (can_setup_IF(canREG3) == FAILURE)
616 if (can_configure(canREG1, config->ctrl[0]) == FAILURE)
618 if (can_configure(canREG2, config->ctrl[1]) == FAILURE)
620 if (can_configure(canREG3, config->ctrl[2]) == FAILURE)
623 can_leave_init(canREG1);
624 can_leave_init(canREG2);
625 can_leave_init(canREG3);
630 int8_t rpp_can_write(rpp_can_hw_obj hw_obj, const struct rpp_can_pdu *pdu)
633 canBASE_t *controller;
634 struct rpp_can_tx_config *tx_cfg = &can_config->tx_config[hw_obj];
636 if (!(controller = map_controller(tx_cfg->controller)))
639 RPP_MUTEX_LOCK(mutex_can);
641 // Wait until IF1 is ready to use
642 while (controller->IF1STAT & (1U << 7)) ;
644 // Reset data length code
645 controller->IF1MCTL &= ~15;
646 controller->IF1MCTL |= pdu->dlc & 0xF;
649 * 31 Message is valid
650 * 30 Whether std/ext ID should be used
651 * 29 Direction is transmit
652 * 28-18 / 28-0 Message ID
654 controller->IF1ARB = (1 << 31)
655 | ((tx_cfg->type == RPP_CAN_STANDARD ? 0 : 1) << 30)
657 | (pdu->id << (tx_cfg->type == RPP_CAN_STANDARD ? 18 : 0));
659 for (i = 0; i < pdu->dlc; i++) {
660 #ifdef __little_endian__
661 controller->IF1DATx[i] = pdu->data[i];
663 controller->IF1DATx[s_can_byte_order[i]] = pdu->data[i];
667 // Copy TX data into message box
668 controller->IF1NO = tx_cfg->msg_obj;
670 RPP_MUTEX_UNLOCK(mutex_can);
676 int8_t rpp_can_check_tx_pend(rpp_can_hw_obj hw_obj, bool *tx_pend)
678 uint32_t reg_index, bit_mask;
679 canBASE_t *controller;
681 if (!(controller = map_controller(can_config->tx_config[hw_obj].controller)))
684 reg_index = can_config->tx_config[hw_obj].msg_obj >> 5;
685 bit_mask = 1 << ((can_config->tx_config[hw_obj].msg_obj - 1) & 0x1FU);
687 *tx_pend = controller->TXRQx[reg_index] & bit_mask;
692 int8_t rpp_can_read(rpp_can_hw_obj hw_obj, struct rpp_can_pdu *pdu)
694 uint32_t reg_index, bit_mask;
696 canBASE_t *controller;
698 if (!(controller = map_controller(can_config->rx_config[hw_obj].controller)))
701 reg_index = (can_config->rx_config[hw_obj].msg_obj - 1) >> 5;
702 bit_mask = 1 << ((can_config->rx_config[hw_obj].msg_obj - 1) & 0x1FU);
704 RPP_MUTEX_LOCK(mutex_can);
706 // FIXME: Check whether to abort if there are no new data
707 if (!(controller->NWDATx[reg_index] & bit_mask)) {
708 RPP_MUTEX_UNLOCK(mutex_can);
712 // Wait until IF2 is ready to use
713 while (controller->IF2STAT & (1U << 7)) ;
715 // Copy data into IF2
716 controller->IF2NO = can_config->rx_config[hw_obj].msg_obj;
718 // Wait until IF2 is ready to use
719 while (controller->IF2STAT & (1U << 7)) ;
721 // Get length of data received
722 pdu->dlc = controller->IF2MCTL & 0xFU;
725 if (controller->IF2ARB & (1 << 30))
726 pdu->id = (controller->IF2ARB & 0x1FFFFFFF) | CAN_EFF_FLAG;
728 pdu->id = (controller->IF2ARB & (0x7FF << 18)) >> 18;
730 // Copy RX data into pdu
731 for (i = 0; i < pdu->dlc; i++) {
732 #ifdef __little_endian__
733 pdu->data[i] = controller->IF2DATx[i];
735 pdu->data[i] = controller->IF2DATx[s_can_byte_order[i]];
739 RPP_MUTEX_UNLOCK(mutex_can);
744 int8_t rpp_can_check_rx_ind(rpp_can_hw_obj hw_obj, bool *rx_ind)
746 uint32_t reg_index, bit_mask;
747 canBASE_t *controller;
749 if (!(controller = map_controller(can_config->rx_config[hw_obj].controller)))
752 reg_index = (can_config->rx_config[hw_obj].msg_obj - 1) >> 5;
753 bit_mask = 1 << ((can_config->rx_config[hw_obj].msg_obj - 1) & 0x1FU);
755 *rx_ind = controller->NWDATx[reg_index] & bit_mask;