Temporary changes for the CAN communication

[arc.git] / arch / arm / arm_cr4 / drivers / Can.c

diff --git a/arch/arm/arm_cr4/drivers/Can.c b/arch/arm/arm_cr4/drivers/Can.c
index a67635597a946e0f22e7374c2e7615c4d7d14793..040093a590e0f692f272fa6d848e278c3022e5fd 100644 (file)
--- a/arch/arm/arm_cr4/drivers/Can.c
+++ b/arch/arm/arm_cr4/drivers/Can.c
@@ -22,7 +22,7 @@
 #include "Det.h"\r
 #include "CanIf_Cbk.h"\r
 #include "Os.h"\r
-#include "irq.h"\r
+#include "isr.h"\r
 #include "Mcu.h"\r
 #include "arc.h"\r
 \r
@@ -41,6 +41,8 @@
 #define Dem_ReportErrorStatus(...)\r
 #endif\r
 \r
+//static sint8 IfRegId = 0;\r
+\r
 /* Macro for waiting until busy flag is 0 */\r
 #define DCAN_WAIT_UNTIL_NOT_BUSY(ControllerId, IfRegId) \\r
     { \\r
@@ -106,6 +108,7 @@ static CanIf_ControllerModeType ControllerMode[CAN_ARC_CTRL_CONFIG_CNT];
 /* Used to switch between IF1 and IF2 of DCAN */\r
 static uint8 IfRegId = 0;\r
 \r
+\r
 /* Used to order Data Bytes according to hardware registers in DCAN */\r
 static const uint8 ElementIndex[] = {3, 2, 1, 0, 7, 6, 5, 4};\r
 \r
@@ -216,7 +219,7 @@ static inline Can_ReturnType handleRxMsgObject(uint8 MsgNr, const Can_HardwareOb
        uint8  *SduPtr;\r
 \r
        /* Wait until Busy Flag is 0 */\r
-       DCAN_WAIT_UNTIL_NOT_BUSY_NO_RV(controller, IfRegId);\r
+       DCAN_WAIT_UNTIL_NOT_BUSY(controller, IfRegId);\r
 \r
        // Read message control\r
        uint32 mc = CanRegs[controller]->IFx[IfRegId].MC;\r
@@ -376,6 +379,7 @@ void Can_Init(const Can_ConfigType *Config)
     uint8                     MsgNr;\r
     uint32                    ErrCounter;\r
     uint32                    Eob;\r
+    imask_t state;\r
 \r
 /* DET Error Check */\r
 #if(CAN_DEV_ERROR_DETECT == STD_ON)\r
@@ -391,7 +395,7 @@ void Can_Init(const Can_ConfigType *Config)
     }\r
 #endif \r
 \r
-    imask_t i_state = McuE_EnterCriticalSection();\r
+    Irq_Save(state);\r
 \r
     // TODO This should be used instead of other variables in the Can_Lcfg file.\r
     CurConfig        = Config;\r
@@ -405,9 +409,13 @@ void Can_Init(const Can_ConfigType *Config)
         CanRegs[Controller]->CTL = 0x02001641 | DCAN_IRQ_MASK | (CanControllerConfigData[Controller].Can_Arc_Loopback << 7);// | (CanControllerConfigData[Controller].CanWakeupProcessing >> 8) | (CanControllerConfigData[Controller].CanBusOffProcessing >> 7);\r
 #else\r
         CanRegs[Controller]->CTL = 0x00001641 | DCAN_IRQ_MASK | (CanControllerConfigData[Controller].Can_Arc_Loopback << 7);// | (CanControllerConfigData[Controller].CanWakeupProcessing >> 8) | (CanControllerConfigData[Controller].CanBusOffProcessing >> 7);\r
+\r
+        /* Parity Off */\r
+        CanRegs[Controller]->CTL = 0x00020043 | DCAN_IRQ_MASK | (CanControllerConfigData[Controller].Can_Arc_Loopback << 7);// | (CanControllerConfigData[Controller].CanWakeupProcessing >> 8);\r
 #endif        \r
         /* LEC 7, TxOk, RxOk, PER */\r
         CanRegs[Controller]->SR  = 0x0000011F;\r
+        //CanRegs[Controller]->SR = 0x0000031F;  // according to HalCoGen\r
 \r
         /* Test Mode only for Development time: Silent Loopback */\r
         if (CanControllerConfigData[Controller].Can_Arc_Loopback) {\r
@@ -421,6 +429,8 @@ void Can_Init(const Can_ConfigType *Config)
             *(ControllerConfig[Controller].CancelPtr + MsgNr) = 0;\r
             *(ControllerConfig[Controller].TxPtr     + MsgNr) = 0;\r
             \r
+            CanRegs[Controller]->ABOT = 0; // added manually according to HalCoGen, maybe delete???\r
+\r
             DCAN_WAIT_UNTIL_NOT_BUSY_NO_RV(Controller, IfRegId);\r
 \r
             // Initialize all message objects for this controller to invalid state.\r
@@ -428,6 +438,7 @@ void Can_Init(const Can_ConfigType *Config)
                        CanRegs[Controller]->IFx[IfRegId].ARB = 0x00000000;\r
                        /* Start writing Arbitration Bits */\r
                        CanRegs[Controller]->IFx[IfRegId].COM = 0x00A80000 | (MsgNr + 1);\r
+                       // CanRegs[Controller]->IFx[IfRegId].COM = 0x00F80000 | (MsgNr + 1); maybe right, later it's used again??\r
 \r
                        /* Use IFx[0] and IFx[1] alternating */\r
                        IfRegId ^= 1;\r
@@ -472,11 +483,14 @@ void Can_Init(const Can_ConfigType *Config)
                                                                                                                | (CanControllerConfigData[Controller].CanTxProcessing << 1) // Tx confirmation interrupt enabled\r
                                                                                                                | (Eob & ~(hoh->CanObjectType >> 22)); // Eob, only for Rx.\r
 \r
+                               //CanRegs[Controller]->IFx[IfRegId].MC = 0x00001008;\r
+\r
                                //CanRegs[Controller]->IFx[IfRegId].MC = 0x00001008 | CanControllerConfigData[Controller].CanRxProcessing | (CanControllerConfigData[Controller].CanTxProcessing) | Eob & ~(hoh->CanObjectType >> 17);\r
 \r
                                if(hoh->CanIdType == CAN_ID_TYPE_STANDARD)      /* Standard Identifiers */\r
                                {\r
                                        /* Only Standard-Ids are accepted, Set Mask */\r
+                                       // HalCoGen\r
                                        CanRegs[Controller]->IFx[IfRegId].MASK = 0x80000000 | ((*(hoh->CanFilterMaskRef)) & 0x1FFFFFFF);\r
                                        /* Message valid, Id, Direction */\r
                                        CanRegs[Controller]->IFx[IfRegId].ARB  = 0x80000000 | ((hoh->CanIdValue & 0x7FF) << 18) | hoh->CanObjectType;\r
@@ -484,7 +498,9 @@ void Can_Init(const Can_ConfigType *Config)
                                else if(hoh->CanIdType == CAN_ID_TYPE_EXTENDED) /* Extended Identifiers */\r
                                {\r
                                        /* Only Extended-Ids are accepted, Set Mask */\r
-                                       CanRegs[Controller]->IFx[IfRegId].MASK = 0x80000000 | ((*(hoh->CanFilterMaskRef)) & 0x1FFFFFFF);\r
+                                       CanRegs[Controller]->IFx[IfRegId].MASK = 0xC0000000 | ((*(hoh->CanFilterMaskRef)) & 0x1FFFFFFF); // HalCoGen\r
+                                       // C = bit 30: The message direction bit (Dir) is used for acceptance filtering.\r
+                                       // CanRegs[Controller]->IFx[IfRegId].MASK = 0x80000000 | ((*(hoh->CanFilterMaskRef)) & 0x1FFFFFFF);\r
                                        /* Message valid, Id, Direction */\r
                                        CanRegs[Controller]->IFx[IfRegId].ARB  = 0xC0000000 | (hoh->CanIdValue & 0x1FFFFFFF) | hoh->CanObjectType;\r
                                }\r
@@ -508,7 +524,7 @@ void Can_Init(const Can_ConfigType *Config)
         /* Set Bit Timing Register */\r
         CanRegs[Controller]->BTR = Can_CalculateBTR(Controller);\r
 \r
-        /* Reset CCE Bit */\r
+        /* Reset CCE Bit, i.e. disable configuration change */\r
         CanRegs[Controller]->CTL &= ~0x00000040;\r
 \r
 #if(CAN_DEV_ERROR_DETECT == STD_ON)\r
@@ -517,27 +533,17 @@ void Can_Init(const Can_ConfigType *Config)
 #endif\r
 \r
         // Install interrupt handlers\r
-               TaskType tid;\r
                if (CanControllerConfigData[Controller].CanControllerId == DCAN1) {\r
-                       tid = Os_Arc_CreateIsr(Can1_InterruptHandler, 2 ,"DCAN1Level0");\r
-                       Irq_AttachIsr2(tid, NULL, 16);\r
-\r
-                       tid = Os_Arc_CreateIsr(Can1_InterruptHandler, 2, "DCAN1Level1");\r
-                       Irq_AttachIsr2(tid, NULL, 29);\r
+                       ISR_INSTALL_ISR2("DCAN1Level0",Can1_InterruptHandler,CAN1_LEVEL_0,2,0);\r
+                       ISR_INSTALL_ISR2("DCAN1Level1",Can1_InterruptHandler,CAN1_LEVEL_1,2,0);\r
 \r
                } else if (CanControllerConfigData[Controller].CanControllerId == DCAN2) {\r
-                       tid = Os_Arc_CreateIsr(Can2_InterruptHandler, 2 ,"DCAN2Level0");\r
-                       Irq_AttachIsr2(tid, NULL, 35);\r
-\r
-                       tid = Os_Arc_CreateIsr(Can2_InterruptHandler, 2, "DCAN2Level1");\r
-                       Irq_AttachIsr2(tid, NULL, 42);\r
+                       ISR_INSTALL_ISR2("DCAN2Level0",Can2_InterruptHandler,CAN2_LEVEL_0,2,0);\r
+                       ISR_INSTALL_ISR2("DCAN2Level1",Can2_InterruptHandler,CAN2_LEVEL_1,2,0);\r
 \r
                } else if (CanControllerConfigData[Controller].CanControllerId == DCAN3) {\r
-                       tid = Os_Arc_CreateIsr(Can3_InterruptHandler, 2 ,"DCAN3Level0");\r
-                       Irq_AttachIsr2(tid, NULL, 45);\r
-\r
-                       tid = Os_Arc_CreateIsr(Can3_InterruptHandler, 2, "DCAN3Level1");\r
-                       Irq_AttachIsr2(tid, NULL, 55);\r
+                       ISR_INSTALL_ISR2("DCAN3Level0",Can3_InterruptHandler,CAN3_LEVEL_0,2,0);\r
+                       ISR_INSTALL_ISR2("DCAN3Level1",Can3_InterruptHandler,CAN3_LEVEL_1,2,0);\r
 \r
                }\r
 \r
@@ -547,16 +553,24 @@ void Can_Init(const Can_ConfigType *Config)
     ModuleState = CAN_READY;\r
 #endif\r
 \r
-    McuE_ExitCriticalSection(i_state);\r
+    Irq_Restore(state);\r
 \r
 }\r
 \r
+// Unitialize the module\r
+void Can_DeInit()\r
+{\r
+\r
+  return;\r
+}\r
+\r
 \r
 \r
 void Can_InitController(uint8 Controller, const Can_ControllerConfigType* Config)\r
 {\r
     uint8   MsgNr;\r
     uint32  ErrCounter;\r
+    imask_t state;\r
 \r
 #if(CAN_DEV_ERROR_DETECT == STD_ON)\r
     if(Config == NULL)\r
@@ -581,7 +595,7 @@ void Can_InitController(uint8 Controller, const Can_ControllerConfigType* Config
     }\r
 #endif \r
 \r
-    imask_t i_state = McuE_EnterCriticalSection();\r
+    Irq_Save(state);\r
 \r
     ErrCounter = CAN_TIMEOUT_DURATION;\r
     \r
@@ -603,7 +617,7 @@ void Can_InitController(uint8 Controller, const Can_ControllerConfigType* Config
 \r
                DCAN_WAIT_UNTIL_NOT_BUSY_NO_RV(Controller, IfRegId);\r
 \r
-               /* Read actual MaskRegister value of MessageObject */\r
+               /* Read actual MaskRegister value of MessageObject; TxRqst/NewDat */\r
         CanRegs[Controller]->IFx[IfRegId].COM = 0x004C0000 | (MsgNr);\r
 \r
         DCAN_WAIT_UNTIL_NOT_BUSY_NO_RV(Controller, IfRegId);\r
@@ -612,7 +626,7 @@ void Can_InitController(uint8 Controller, const Can_ControllerConfigType* Config
         /* Set new Mask */\r
         CanRegs[Controller]->IFx[IfRegId].MASK |= (*(hoh->CanFilterMaskRef)) & 0x1FFFFFFF;\r
         /* Write new Mask to MaskRegister */\r
-        CanRegs[Controller]->IFx[IfRegId].COM   = 0x00C80000 | (MsgNr);\r
+        CanRegs[Controller]->IFx[IfRegId].COM   = 0x00C80000 | (MsgNr);        // E8??\r
 \r
         IfRegId ^= 1;\r
     }\r
@@ -626,7 +640,7 @@ void Can_InitController(uint8 Controller, const Can_ControllerConfigType* Config
     /* Clear CCE Bit */\r
     CanRegs[Controller]->CTL &= ~0x00000040;\r
 \r
-    McuE_ExitCriticalSection(i_state);\r
+    Irq_Restore(state);\r
 }\r
 \r
 \r
@@ -677,7 +691,7 @@ Can_ReturnType Can_SetControllerMode(uint8 Controller, Can_StateTransitionType T
         break;\r
 \r
     case CAN_T_SLEEP:\r
-        /* Set PDR  Bit */\r
+        /* Set PDR  Bit - Local Power Down Mode requested */\r
         CanRegs[Controller]->CTL |=  0x01000000;\r
         /* Save actual Register status */\r
         RegBuf = CanRegs[Controller]->CTL;\r
@@ -804,8 +818,9 @@ Can_ReturnType Can_Write(Can_Arc_HTHType Hth, Can_PduType *PduInfo)
     Can_PduType           *CurPduArrayPtr;\r
     uint8                 *CurCancelRqstPtr;\r
     uint8                 *CurTxRqstPtr;\r
+    imask_t state;\r
 \r
-    CurSduPtr       = PduInfo->sdu;\r
+    CurSduPtr       = PduInfo->sdu;            // e.g. ComArcIPduBuffer_TX_PDU\r
     \r
 \r
 /* DET Error Check */\r
@@ -846,7 +861,7 @@ Can_ReturnType Can_Write(Can_Arc_HTHType Hth, Can_PduType *PduInfo)
                        continue; // This message object is not part of this hoh.\r
                }\r
                /* Check if TxRqst Bit of MsgObject is set */\r
-               if(CanRegs[ControllerId]->TRx[MsgNr >> 5] & (1 << (MsgNr & 0x1F)))\r
+               if(CanRegs[ControllerId]->TRx[MsgNr >> 5] & (1 << (MsgNr & 0x1F))) // (1 << (MsgNr & 0x1F)) - bitIndex\r
                {\r
                        continue;\r
                }\r
@@ -876,7 +891,7 @@ Can_ReturnType Can_Write(Can_Arc_HTHType Hth, Can_PduType *PduInfo)
     DCAN_WAIT_UNTIL_NOT_BUSY(ControllerId, IfRegId);\r
 \r
     // We cannot allow an interrupt or other task to play with the COM, MC and ARB registers here.\r
-    imask_t i_state = McuE_EnterCriticalSection();\r
+    Irq_Save(state);\r
 \r
 \r
     /* Set NewDat, TxIE (dep on ControllerConfig), TxRqst, EoB and DLC */\r
@@ -885,10 +900,10 @@ Can_ReturnType Can_Write(Can_Arc_HTHType Hth, Can_PduType *PduInfo)
                                                                                        | (0x000F & PduInfo->length) // Set DLC\r
                                                                                        | (CanControllerConfigData[ControllerId].CanTxProcessing << 1); // Tx confirmation interrupt enabled\r
 \r
-\r
     /* Set ArbitrationRegister */\r
     CanRegs[ControllerId]->IFx[IfRegId].ARB = ArbRegValue;\r
 \r
+\r
     /* Set Databytes */\r
     for(DataByteIndex = 0; DataByteIndex < PduInfo->length; DataByteIndex++)\r
     {\r
@@ -905,7 +920,7 @@ Can_ReturnType Can_Write(Can_Arc_HTHType Hth, Can_PduType *PduInfo)
     \r
     IfRegId ^= 1;\r
        \r
-    McuE_ExitCriticalSection(i_state);\r
+    Irq_Restore(state);\r
     return CAN_OK;\r
 }\r
 \r