* -------------------------------- Arctic Core ------------------------------*/\r
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-\r
-\r
#include "Can.h"\r
\r
#ifndef USE_CAN_STUB\r
#include <string.h>\r
#if defined(USE_KERNEL)\r
#include "Os.h"\r
-#include "irq.h"\r
+#include "isr.h"\r
+#include "arc.h"\r
#endif\r
\r
\r
\r
#define GET_CONTROLLER_CNT() (CAN_CONTROLLER_CNT)\r
\r
+#if 0\r
+#define _INSTALL_HANDLER(_can_entry, _unique, _vector,_priority,_app ) \\r
+ do { \\r
+ const OsIsrConstType _can_entry ## _unique = { \\r
+ .vector = _vector, \\r
+ .type = ISR_TYPE_2, \\r
+ .priority = _priority, \\r
+ .entry = _can_entry, \\r
+ .name = "Can", \\r
+ .resourceMask = 0, \\r
+ .timingProtPtr = NULL, \\r
+ .appOwner = _app, \\r
+ }; \\r
+ Os_IsrAdd( & _can_entry ## _unique); \\r
+ } while(0);\r
+#endif\r
+\r
+#define INSTALL_HANDLER4(_name,_can_entry, _vector,_priority,_app)\\r
+ ISR_INSTALL_ISR2(_name,_can_entry, _vector+0,_priority,_app) \\r
+ ISR_INSTALL_ISR2(_name,_can_entry, _vector+1,_priority,_app) \\r
+ ISR_INSTALL_ISR2(_name,_can_entry, _vector+2,_priority,_app) \\r
+ ISR_INSTALL_ISR2(_name,_can_entry, _vector+3,_priority,_app)\r
+\r
+#define INSTALL_HANDLER16(_name,_can_entry, _vector,_priority,_app)\\r
+ INSTALL_HANDLER4(_name,_can_entry, _vector+0,_priority,_app) \\r
+ INSTALL_HANDLER4(_name,_can_entry, _vector+4,_priority,_app) \\r
+ INSTALL_HANDLER4(_name,_can_entry, _vector+8,_priority,_app) \\r
+ INSTALL_HANDLER4(_name,_can_entry, _vector+12,_priority,_app)\r
+\r
+\r
//-------------------------------------------------------------------\r
\r
#if ( CAN_DEV_ERROR_DETECT == STD_ON )\r
\r
} Can_UnitType;\r
\r
-#if defined(CFG_MPC5567)\r
-Can_UnitType CanUnit[CAN_CONTROLLER_CNT] =\r
-{\r
- {\r
- .state = CANIF_CS_UNINIT,\r
- },{\r
- .state = CANIF_CS_UNINIT,\r
- },{\r
- .state = CANIF_CS_UNINIT,\r
- },{\r
- .state = CANIF_CS_UNINIT,\r
- },{\r
- .state = CANIF_CS_UNINIT,\r
- },\r
-};\r
-#else\r
Can_UnitType CanUnit[CAN_CONTROLLER_CNT] =\r
{\r
{\r
.state = CANIF_CS_UNINIT,\r
},{\r
.state = CANIF_CS_UNINIT,\r
- },{\r
+ }\r
+#if defined(CFG_MPC5516) || defined(CFG_MPC5517)\r
+ ,{\r
.state = CANIF_CS_UNINIT,\r
}\r
-};\r
#endif\r
+};\r
\r
//-------------------------------------------------------------------\r
\r
void Can_C_Isr( void ) { Can_Isr(CAN_CTRL_C); }\r
void Can_D_Isr( void ) { Can_Isr(CAN_CTRL_D); }\r
void Can_E_Isr( void ) { Can_Isr(CAN_CTRL_E); }\r
-#if defined(CFG_MPC5567)\r
-#else\r
+#if defined(CFG_MPC5516) || defined(CFG_MPC5517)\r
void Can_F_Isr( void ) { Can_Isr(CAN_CTRL_F); }\r
#endif\r
\r
void Can_C_Err( void ) { Can_Err(CAN_CTRL_C); }\r
void Can_D_Err( void ) { Can_Err(CAN_CTRL_D); }\r
void Can_E_Err( void ) { Can_Err(CAN_CTRL_E); }\r
-#if defined(CFG_MPC5567)\r
-#else\r
+#if defined(CFG_MPC5516) || defined(CFG_MPC5517)\r
void Can_F_Err( void ) { Can_Err(CAN_CTRL_F); }\r
#endif\r
\r
void Can_C_BusOff( void ) { Can_BusOff(CAN_CTRL_C); }\r
void Can_D_BusOff( void ) { Can_BusOff(CAN_CTRL_D); }\r
void Can_E_BusOff( void ) { Can_BusOff(CAN_CTRL_E); }\r
-#if defined(CFG_MPC5567)\r
-#else\r
+#if defined(CFG_MPC5516) || defined(CFG_MPC5517)\r
void Can_F_BusOff( void ) { Can_BusOff(CAN_CTRL_F); }\r
#endif\r
//-------------------------------------------------------------------\r
}\r
\r
if (canHwConfig->Can_Arc_Fifo) {\r
+ /*\r
+ * NOTE!!!\r
+ * Do not enable RxFIFO. See [Freescale Device Errata MPC5510ACE, Rev. 10 APR 2009, errata ID: 14593].\r
+ */\r
+ \r
/* Note\r
* NOT tested at all\r
*/\r
}\r
}\r
\r
+\r
//-------------------------------------------------------------------\r
\r
-#if defined(USE_KERNEL)\r
-#define INSTALL_HANDLERS( _can_name,_boff,_err,_start,_stop) \\r
- do { \\r
- TaskType tid; \\r
- tid = Os_Arc_CreateIsr(_can_name ## _BusOff,2/*prio*/,"Can"); \\r
- Irq_AttachIsr2(tid,NULL,_boff); \\r
- tid = Os_Arc_CreateIsr(_can_name ## _Err,2/*prio*/,"Can"); \\r
- Irq_AttachIsr2(tid,NULL,_err); \\r
- for(i=_start;i<=_stop;i++) { \\r
- tid = Os_Arc_CreateIsr(_can_name ## _Isr,2/*prio*/,"Can"); \\r
- Irq_AttachIsr2(tid,NULL,i); \\r
- } \\r
- } while(0);\r
-#else\r
-#define INSTALL_HANDLERS( _can_name,_boff,_err,_start,_stop) \\r
- Irq_InstallVector(_can_name ## _BusOff, _boff, 1, CPU_Z1); \\r
- Irq_InstallVector(_can_name ## _Err, _err, 1, CPU_Z1); \\r
- for(i=_start;i<=_stop;i++) { \\r
- Irq_InstallVector(_can_name ## _Isr, i, 1, CPU_Z1); \\r
- }\r
-#endif\r
\r
// This initiates ALL can controllers\r
void Can_Init( const Can_ConfigType *config ) {\r
}\r
} while (!hoh->Can_Arc_EOL);\r
\r
+\r
+\r
// Note!\r
// Could install handlers depending on HW objects to trap more errors\r
// in configuration\r
-#if defined(CFG_MPC5567)\r
switch( canHwConfig->CanControllerId ) {\r
case CAN_CTRL_A:\r
- INSTALL_HANDLERS(Can_A, FLEXCAN_A_ESR_BOFF_INT, FLEXCAN_A_ESR_ERR_INT, FLEXCAN_A_IFLAG1_BUF0I, FLEXCAN_A_IFLAG1_BUF31_16I); break;\r
+ ISR_INSTALL_ISR2( "Can", Can_A_BusOff, FLEXCAN_A_ESR_BOFF_INT, 2, 0);\r
+ ISR_INSTALL_ISR2( "Can", Can_A_Err, FLEXCAN_A_ESR_ERR_INT, 2, 0 );\r
+ INSTALL_HANDLER16( "Can", Can_A_Isr, FLEXCAN_A_IFLAG1_BUF0I, 2, 0 );\r
+ ISR_INSTALL_ISR2( "Can", Can_A_Isr, FLEXCAN_A_IFLAG1_BUF31_16I, 2, 0 );\r
+ break;\r
case CAN_CTRL_B:\r
- INSTALL_HANDLERS(Can_B, FLEXCAN_B_ESR_BOFF_INT, FLEXCAN_B_ESR_ERR_INT, FLEXCAN_B_IFLAG1_BUF0I, FLEXCAN_B_IFLAG1_BUF31_16I); break;\r
+ ISR_INSTALL_ISR2( "Can", Can_B_BusOff, FLEXCAN_B_ESR_BOFF_INT, 2, 0 );\r
+ ISR_INSTALL_ISR2( "Can", Can_B_Err, FLEXCAN_B_ESR_ERR_INT, 2, 0 );\r
+ INSTALL_HANDLER16( "Can", Can_B_Isr, FLEXCAN_B_IFLAG1_BUF0I, 2, 0 );\r
+ ISR_INSTALL_ISR2( "Can", Can_B_Isr, FLEXCAN_B_IFLAG1_BUF31_16I, 2, 0 );\r
+ break;\r
case CAN_CTRL_C:\r
- INSTALL_HANDLERS(Can_C, FLEXCAN_C_ESR_BOFF_INT, FLEXCAN_C_ESR_ERR_INT, FLEXCAN_C_IFLAG1_BUF0I, FLEXCAN_C_IFLAG1_BUF31_16I); break;\r
+ ISR_INSTALL_ISR2( "Can", Can_C_BusOff, FLEXCAN_C_ESR_BOFF_INT, 2, 0 );\r
+ ISR_INSTALL_ISR2( "Can", Can_C_Err, FLEXCAN_C_ESR_ERR_INT, 2, 0 );\r
+ INSTALL_HANDLER16( "Can", Can_C_Isr, FLEXCAN_C_IFLAG1_BUF0I, 2, 0 );\r
+ ISR_INSTALL_ISR2( "Can", Can_C_Isr, FLEXCAN_C_IFLAG1_BUF31_16I, 2, 0 );\r
+ break;\r
case CAN_CTRL_D:\r
- INSTALL_HANDLERS(Can_D, FLEXCAN_D_ESR_BOFF_INT, FLEXCAN_D_ESR_ERR_INT, FLEXCAN_D_IFLAG1_BUF0I, FLEXCAN_D_IFLAG1_BUF31_16I); break;\r
+ ISR_INSTALL_ISR2( "Can", Can_D_BusOff, FLEXCAN_D_ESR_BOFF_INT, 2, 0 );\r
+ ISR_INSTALL_ISR2( "Can", Can_D_Err, FLEXCAN_D_ESR_ERR_INT, 2, 0 );\r
+ INSTALL_HANDLER16( "Can", Can_D_Isr, FLEXCAN_D_IFLAG1_BUF0I, 2, 0 );\r
+ ISR_INSTALL_ISR2( "Can", Can_D_Isr, FLEXCAN_D_IFLAG1_BUF31_16I, 2, 0 );\r
+ break;\r
case CAN_CTRL_E:\r
- INSTALL_HANDLERS(Can_E, FLEXCAN_E_ESR_BOFF_INT, FLEXCAN_E_ESR_ERR_INT, FLEXCAN_E_IFLAG1_BUF0I, FLEXCAN_E_IFLAG1_BUF31_16I); break;\r
- default:\r
- assert(0);\r
- }\r
-#else\r
- switch( canHwConfig->CanControllerId ) {\r
- case CAN_CTRL_A:\r
- INSTALL_HANDLERS(Can_A, FLEXCAN_A_ESR_BOFF_INT, FLEXCAN_A_ESR_ERR_INT, FLEXCAN_A_IFLAG1_BUF0I, FLEXCAN_A_IFLAG1_BUF31_16I); break;\r
- case CAN_CTRL_B:\r
- INSTALL_HANDLERS(Can_B, FLEXCAN_B_ESR_BOFF_INT, FLEXCAN_B_ESR_ERR_INT, FLEXCAN_B_IFLAG1_BUF0I, FLEXCAN_B_IFLAG1_BUF31_16I); break;\r
- case CAN_CTRL_C:\r
- INSTALL_HANDLERS(Can_C, FLEXCAN_C_ESR_BOFF_INT, FLEXCAN_C_ESR_ERR_INT, FLEXCAN_C_IFLAG1_BUF0I, FLEXCAN_C_IFLAG1_BUF31_16I); break;\r
- case CAN_CTRL_D:\r
- INSTALL_HANDLERS(Can_D, FLEXCAN_D_ESR_BOFF_INT, FLEXCAN_D_ESR_ERR_INT, FLEXCAN_D_IFLAG1_BUF0I, FLEXCAN_D_IFLAG1_BUF31_16I); break;\r
- case CAN_CTRL_E:\r
- INSTALL_HANDLERS(Can_E, FLEXCAN_E_ESR_BOFF_INT, FLEXCAN_E_ESR_ERR_INT, FLEXCAN_E_IFLAG1_BUF0I, FLEXCAN_E_IFLAG1_BUF31_16I); break;\r
+ ISR_INSTALL_ISR2( "Can", Can_E_BusOff, FLEXCAN_E_ESR_BOFF_INT, 2, 0 );\r
+ ISR_INSTALL_ISR2( "Can", Can_E_Err, FLEXCAN_E_ESR_ERR_INT, 2, 0 );\r
+ INSTALL_HANDLER16( "Can", Can_E_Isr, FLEXCAN_E_IFLAG1_BUF0I, 2, 0 );\r
+ ISR_INSTALL_ISR2( "Can", Can_E_Isr, FLEXCAN_E_IFLAG1_BUF31_16I, 2, 0 );\r
+ break;\r
+#if defined(CFG_MPC5516) || defined(CFG_MPC5517)\r
case CAN_CTRL_F:\r
- INSTALL_HANDLERS(Can_F, FLEXCAN_F_ESR_BOFF_INT, FLEXCAN_F_ESR_ERR_INT, FLEXCAN_F_IFLAG1_BUF0I, FLEXCAN_F_IFLAG1_BUF31_16I); break;\r
+ ISR_INSTALL_ISR2( "Can", Can_F_BusOff, FLEXCAN_F_ESR_BOFF_INT, 2, 0 );\r
+ ISR_INSTALL_ISR2( "Can", Can_F_Err, FLEXCAN_F_ESR_ERR_INT, 2, 0 );\r
+ INSTALL_HANDLER16( "Can", Can_F_Isr, FLEXCAN_F_IFLAG1_BUF0I, 2, 0 );\r
+ ISR_INSTALL_ISR2( "Can", Can_F_Isr, FLEXCAN_F_IFLAG1_BUF31_16I, 2, 0 );\r
+ break;\r
+#endif\r
default:\r
assert(0);\r
}\r
-#endif\r
}\r
return;\r
}\r
canUnit->state = CANIF_CS_STARTED;\r
imask_t state = McuE_EnterCriticalSection();\r
if (canUnit->lock_cnt == 0) // REQ CAN196\r
+ {\r
Can_EnableControllerInterrupts(controller);\r
+ }\r
McuE_ExitCriticalSection(state);\r
break;\r
case CAN_T_WAKEUP: //CAN267\r
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