Starting 'ticket_1451' branch

diff --git a/arch/ppc/mpc55xx/drivers/Can.c b/arch/ppc/mpc55xx/drivers/Can.c
index 5c0c4cbee5b8e5c596a296e98abcac0325a822fa..4bb1cfebcb2872f85439f3a405681cb0e0e5edd5 100644 (file)
--- a/arch/ppc/mpc55xx/drivers/Can.c
+++ b/arch/ppc/mpc55xx/drivers/Can.c
@@ -400,15 +400,17 @@ static void Can_Err(int unit)
 \r
     /* Clear bits 16-23 by read */\r
     esr.R = canHw->ESR.R;\r
+    if(esr.B.ERRINT == 1)\r
+    {\r
+               if (GET_CALLBACKS()->Arc_Error != NULL) {\r
+                       GET_CALLBACKS()->Arc_Error(unit, err);\r
+               }\r
 \r
-    if (GET_CALLBACKS()->Arc_Error != NULL) {\r
-        GET_CALLBACKS()->Arc_Error(unit, err);\r
-    }\r
-\r
-    Can_SetControllerMode(unit, CAN_T_STOP); // CANIF272 Same handling as for busoff\r
+               Can_SetControllerMode(unit, CAN_T_STOP); // CANIF272 Same handling as for busoff\r
 \r
-    // Clear ERRINT\r
-    canHw->ESR.R = esrWrite.R;\r
+               // Clear ERRINT\r
+               canHw->ESR.R = esrWrite.R;\r
+    }\r
 }\r
 \r
 /**\r
@@ -741,8 +743,6 @@ static void Can_BuildMaps(Can_UnitType *uPtr)
 #endif\r
 }\r
 \r
-\r
-\r
 // This initiates ALL can controllers\r
 void Can_Init(const Can_ConfigType *config)\r
 {\r
@@ -782,92 +782,164 @@ void Can_Init(const Can_ConfigType *config)
         switch (cfgCtrlPtr->CanControllerId) {\r
 #if defined(CFG_MPC560X)\r
         case CAN_CTRL_A:\r
-        ISR_INSTALL_ISR2( "Can", Can_A_BusOff, FLEXCAN_0_ESR_BOFF_INT, 2, 0);\r
-        ISR_INSTALL_ISR2( "Can", Can_A_Err, FLEXCAN_0_ESR_ERR_INT, 2, 0 );\r
-        INSTALL_HANDLER4( "Can", Can_A_Isr, FLEXCAN_0_BUF_00_03, 2, 0 ); /* 0-3, 4-7, 8-11, 12-15 */\r
-        ISR_INSTALL_ISR2( "Can", Can_A_Isr, FLEXCAN_0_BUF_16_31, 2, 0 );\r
-        ISR_INSTALL_ISR2( "Can", Can_A_Isr, FLEXCAN_0_BUF_32_63, 2, 0 );\r
+               if(cfgCtrlPtr->Can_Arc_Flags &  CAN_CTRL_BUSOFF_PROCESSING_INTERRUPT){\r
+                       ISR_INSTALL_ISR2( "Can", Can_A_BusOff, FLEXCAN_0_ESR_BOFF_INT, 2, 0);\r
+               }\r
+               if(cfgCtrlPtr->Can_Arc_Flags &  CAN_CTRL_ERROR_PROCESSING_INTERRUPT){\r
+                       ISR_INSTALL_ISR2( "Can", Can_A_Err, FLEXCAN_0_ESR_ERR_INT, 2, 0 );\r
+               }\r
+               if(cfgCtrlPtr->Can_Arc_Flags &  (CAN_CTRL_TX_PROCESSING_INTERRUPT | CAN_CTRL_RX_PROCESSING_INTERRUPT)){\r
+                       INSTALL_HANDLER4( "Can", Can_A_Isr, FLEXCAN_0_BUF_00_03, 2, 0 ); /* 0-3, 4-7, 8-11, 12-15 */\r
+                       ISR_INSTALL_ISR2( "Can", Can_A_Isr, FLEXCAN_0_BUF_16_31, 2, 0 );\r
+                       ISR_INSTALL_ISR2( "Can", Can_A_Isr, FLEXCAN_0_BUF_32_63, 2, 0 );\r
+               }\r
         break;\r
         case CAN_CTRL_B:\r
-        ISR_INSTALL_ISR2( "Can", Can_B_BusOff, FLEXCAN_1_ESR_BOFF_INT, 2, 0);\r
-        ISR_INSTALL_ISR2( "Can", Can_B_Err, FLEXCAN_1_ESR_ERR_INT, 2, 0 );\r
-        INSTALL_HANDLER4( "Can", Can_B_Isr, FLEXCAN_1_BUF_00_03, 2, 0 ); /* 0-3, 4-7, 8-11, 12-15 */\r
-        ISR_INSTALL_ISR2( "Can", Can_B_Isr, FLEXCAN_1_BUF_16_31, 2, 0 );\r
-        ISR_INSTALL_ISR2( "Can", Can_B_Isr, FLEXCAN_1_BUF_32_63, 2, 0 );\r
+               if(cfgCtrlPtr->Can_Arc_Flags &  CAN_CTRL_BUSOFF_PROCESSING_INTERRUPT){\r
+               ISR_INSTALL_ISR2( "Can", Can_B_BusOff, FLEXCAN_1_ESR_BOFF_INT, 2, 0);\r
+               }\r
+               if(cfgCtrlPtr->Can_Arc_Flags &  CAN_CTRL_ERROR_PROCESSING_INTERRUPT){\r
+               ISR_INSTALL_ISR2( "Can", Can_B_Err, FLEXCAN_1_ESR_ERR_INT, 2, 0 );\r
+               }\r
+               if(cfgCtrlPtr->Can_Arc_Flags &  (CAN_CTRL_TX_PROCESSING_INTERRUPT | CAN_CTRL_RX_PROCESSING_INTERRUPT)){\r
+                       INSTALL_HANDLER4( "Can", Can_B_Isr, FLEXCAN_1_BUF_00_03, 2, 0 ); /* 0-3, 4-7, 8-11, 12-15 */\r
+                       ISR_INSTALL_ISR2( "Can", Can_B_Isr, FLEXCAN_1_BUF_16_31, 2, 0 );\r
+                       ISR_INSTALL_ISR2( "Can", Can_B_Isr, FLEXCAN_1_BUF_32_63, 2, 0 );\r
+               }\r
         break;\r
        #if defined(CFG_MPC5604B)\r
         case CAN_CTRL_C:\r
-        ISR_INSTALL_ISR2( "Can", Can_C_BusOff, FLEXCAN_2_ESR_BOFF_INT, 2, 0);\r
-        ISR_INSTALL_ISR2( "Can", Can_C_Err, FLEXCAN_2_ESR_ERR_INT, 2, 0 );\r
-        INSTALL_HANDLER4( "Can", Can_C_Isr, FLEXCAN_2_BUF_00_03, 2, 0 ); /* 0-3, 4-7, 8-11, 12-15 */\r
-        ISR_INSTALL_ISR2( "Can", Can_C_Isr, FLEXCAN_2_BUF_16_31, 2, 0 );\r
-        ISR_INSTALL_ISR2( "Can", Can_C_Isr, FLEXCAN_2_BUF_32_63, 2, 0 );\r
+               if(cfgCtrlPtr->Can_Arc_Flags &  CAN_CTRL_BUSOFF_PROCESSING_INTERRUPT){\r
+               ISR_INSTALL_ISR2( "Can", Can_C_BusOff, FLEXCAN_2_ESR_BOFF_INT, 2, 0);\r
+               }\r
+               if(cfgCtrlPtr->Can_Arc_Flags &  CAN_CTRL_ERROR_PROCESSING_INTERRUPT){\r
+               ISR_INSTALL_ISR2( "Can", Can_C_Err, FLEXCAN_2_ESR_ERR_INT, 2, 0 );\r
+               }\r
+               if(cfgCtrlPtr->Can_Arc_Flags &  (CAN_CTRL_TX_PROCESSING_INTERRUPT | CAN_CTRL_RX_PROCESSING_INTERRUPT)){\r
+               INSTALL_HANDLER4( "Can", Can_C_Isr, FLEXCAN_2_BUF_00_03, 2, 0 ); /* 0-3, 4-7, 8-11, 12-15 */\r
+               ISR_INSTALL_ISR2( "Can", Can_C_Isr, FLEXCAN_2_BUF_16_31, 2, 0 );\r
+               ISR_INSTALL_ISR2( "Can", Can_C_Isr, FLEXCAN_2_BUF_32_63, 2, 0 );\r
+               }\r
         break;\r
         case CAN_CTRL_D:\r
-        ISR_INSTALL_ISR2( "Can", Can_D_BusOff, FLEXCAN_3_ESR_BOFF_INT, 2, 0);\r
-        ISR_INSTALL_ISR2( "Can", Can_D_Err, FLEXCAN_3_ESR_ERR_INT, 2, 0 );\r
-        INSTALL_HANDLER4( "Can", Can_D_Isr, FLEXCAN_3_BUF_00_03, 2, 0 ); /* 0-3, 4-7, 8-11, 12-15 */\r
-        ISR_INSTALL_ISR2( "Can", Can_D_Isr, FLEXCAN_3_BUF_16_31, 2, 0 );\r
-        ISR_INSTALL_ISR2( "Can", Can_D_Isr, FLEXCAN_3_BUF_32_63, 2, 0 );\r
+               if(cfgCtrlPtr->Can_Arc_Flags &  CAN_CTRL_BUSOFF_PROCESSING_INTERRUPT){\r
+               ISR_INSTALL_ISR2( "Can", Can_D_BusOff, FLEXCAN_3_ESR_BOFF_INT, 2, 0);\r
+               }\r
+               if(cfgCtrlPtr->Can_Arc_Flags &  CAN_CTRL_ERROR_PROCESSING_INTERRUPT){\r
+               ISR_INSTALL_ISR2( "Can", Can_D_Err, FLEXCAN_3_ESR_ERR_INT, 2, 0 );\r
+               }\r
+               if(cfgCtrlPtr->Can_Arc_Flags &  (CAN_CTRL_TX_PROCESSING_INTERRUPT | CAN_CTRL_RX_PROCESSING_INTERRUPT)){\r
+               INSTALL_HANDLER4( "Can", Can_D_Isr, FLEXCAN_3_BUF_00_03, 2, 0 ); /* 0-3, 4-7, 8-11, 12-15 */\r
+               ISR_INSTALL_ISR2( "Can", Can_D_Isr, FLEXCAN_3_BUF_16_31, 2, 0 );\r
+               ISR_INSTALL_ISR2( "Can", Can_D_Isr, FLEXCAN_3_BUF_32_63, 2, 0 );\r
+               }\r
         break;\r
         case CAN_CTRL_E:\r
-        ISR_INSTALL_ISR2( "Can", Can_E_BusOff, FLEXCAN_4_ESR_BOFF_INT, 2, 0);\r
-        ISR_INSTALL_ISR2( "Can", Can_E_Err, FLEXCAN_4_ESR_ERR_INT, 2, 0 );\r
-        INSTALL_HANDLER4( "Can", Can_E_Isr, FLEXCAN_4_BUF_00_03, 2, 0 ); /* 0-3, 4-7, 8-11, 12-15 */\r
-        ISR_INSTALL_ISR2( "Can", Can_E_Isr, FLEXCAN_4_BUF_16_31, 2, 0 );\r
-        ISR_INSTALL_ISR2( "Can", Can_E_Isr, FLEXCAN_4_BUF_32_63, 2, 0 );\r
+               if(cfgCtrlPtr->Can_Arc_Flags &  CAN_CTRL_BUSOFF_PROCESSING_INTERRUPT){\r
+               ISR_INSTALL_ISR2( "Can", Can_E_BusOff, FLEXCAN_4_ESR_BOFF_INT, 2, 0);\r
+               }\r
+               if(cfgCtrlPtr->Can_Arc_Flags &  CAN_CTRL_ERROR_PROCESSING_INTERRUPT){\r
+               ISR_INSTALL_ISR2( "Can", Can_E_Err, FLEXCAN_4_ESR_ERR_INT, 2, 0 );\r
+               }\r
+               if(cfgCtrlPtr->Can_Arc_Flags &  (CAN_CTRL_TX_PROCESSING_INTERRUPT | CAN_CTRL_RX_PROCESSING_INTERRUPT)){\r
+               INSTALL_HANDLER4( "Can", Can_E_Isr, FLEXCAN_4_BUF_00_03, 2, 0 ); /* 0-3, 4-7, 8-11, 12-15 */\r
+               ISR_INSTALL_ISR2( "Can", Can_E_Isr, FLEXCAN_4_BUF_16_31, 2, 0 );\r
+               ISR_INSTALL_ISR2( "Can", Can_E_Isr, FLEXCAN_4_BUF_32_63, 2, 0 );\r
+               }\r
         break;\r
         case CAN_CTRL_F:\r
-        ISR_INSTALL_ISR2( "Can", Can_F_BusOff, FLEXCAN_5_ESR_BOFF_INT, 2, 0);\r
-        ISR_INSTALL_ISR2( "Can", Can_F_Err, FLEXCAN_5_ESR_ERR_INT, 2, 0 );\r
-        INSTALL_HANDLER4( "Can", Can_F_Isr, FLEXCAN_5_BUF_00_03, 2, 0 ); /* 0-3, 4-7, 8-11, 12-15 */\r
-        ISR_INSTALL_ISR2( "Can", Can_F_Isr, FLEXCAN_5_BUF_16_31, 2, 0 );\r
-        ISR_INSTALL_ISR2( "Can", Can_F_Isr, FLEXCAN_5_BUF_32_63, 2, 0 );\r
+               if(cfgCtrlPtr->Can_Arc_Flags &  CAN_CTRL_BUSOFF_PROCESSING_INTERRUPT){\r
+               ISR_INSTALL_ISR2( "Can", Can_F_BusOff, FLEXCAN_5_ESR_BOFF_INT, 2, 0);\r
+               }\r
+               if(cfgCtrlPtr->Can_Arc_Flags &  CAN_CTRL_ERROR_PROCESSING_INTERRUPT){\r
+               ISR_INSTALL_ISR2( "Can", Can_F_Err, FLEXCAN_5_ESR_ERR_INT, 2, 0 );\r
+               }\r
+               if(cfgCtrlPtr->Can_Arc_Flags &  (CAN_CTRL_TX_PROCESSING_INTERRUPT | CAN_CTRL_RX_PROCESSING_INTERRUPT)){\r
+               INSTALL_HANDLER4( "Can", Can_F_Isr, FLEXCAN_5_BUF_00_03, 2, 0 ); /* 0-3, 4-7, 8-11, 12-15 */\r
+               ISR_INSTALL_ISR2( "Can", Can_F_Isr, FLEXCAN_5_BUF_16_31, 2, 0 );\r
+               ISR_INSTALL_ISR2( "Can", Can_F_Isr, FLEXCAN_5_BUF_32_63, 2, 0 );\r
+               }\r
         break;\r
        #endif\r
 #elif defined(CFG_MPC5516) || defined(CFG_MPC5517) || defined(CFG_MPC5567) || defined(CFG_MPC5668)\r
         case CAN_CTRL_A:\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
-        ISR_INSTALL_ISR2( "Can", Can_A_Isr, FLEXCAN_A_IFLAG1_BUF63_32I, 2, 0 );\r
+               if(cfgCtrlPtr->Can_Arc_Flags &  CAN_CTRL_BUSOFF_PROCESSING_INTERRUPT){\r
+               ISR_INSTALL_ISR2( "Can", Can_A_BusOff, FLEXCAN_A_ESR_BOFF_INT, 2, 0);\r
+               }\r
+               if(cfgCtrlPtr->Can_Arc_Flags &  CAN_CTRL_ERROR_PROCESSING_INTERRUPT){\r
+               ISR_INSTALL_ISR2( "Can", Can_A_Err, FLEXCAN_A_ESR_ERR_INT, 2, 0 );\r
+               }\r
+               if(cfgCtrlPtr->Can_Arc_Flags &  (CAN_CTRL_TX_PROCESSING_INTERRUPT | CAN_CTRL_RX_PROCESSING_INTERRUPT)){\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
+               ISR_INSTALL_ISR2( "Can", Can_A_Isr, FLEXCAN_A_IFLAG1_BUF63_32I, 2, 0 );\r
+               }\r
         break;\r
         case CAN_CTRL_B:\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
-        ISR_INSTALL_ISR2( "Can", Can_A_Isr, FLEXCAN_B_IFLAG1_BUF63_32I, 2, 0 );\r
+               if(cfgCtrlPtr->Can_Arc_Flags &  CAN_CTRL_BUSOFF_PROCESSING_INTERRUPT){\r
+               ISR_INSTALL_ISR2( "Can", Can_B_BusOff, FLEXCAN_B_ESR_BOFF_INT, 2, 0 );\r
+               }\r
+               if(cfgCtrlPtr->Can_Arc_Flags &  CAN_CTRL_ERROR_PROCESSING_INTERRUPT){\r
+               ISR_INSTALL_ISR2( "Can", Can_B_Err, FLEXCAN_B_ESR_ERR_INT, 2, 0 );\r
+               }\r
+               if(cfgCtrlPtr->Can_Arc_Flags &  (CAN_CTRL_TX_PROCESSING_INTERRUPT | CAN_CTRL_RX_PROCESSING_INTERRUPT)){\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
+               ISR_INSTALL_ISR2( "Can", Can_B_Isr, FLEXCAN_B_IFLAG1_BUF63_32I, 2, 0 );\r
+               }\r
         break;\r
         case CAN_CTRL_C:\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
-        ISR_INSTALL_ISR2( "Can", Can_A_Isr, FLEXCAN_C_IFLAG1_BUF63_32I, 2, 0 );\r
+               if(cfgCtrlPtr->Can_Arc_Flags &  CAN_CTRL_BUSOFF_PROCESSING_INTERRUPT){\r
+               ISR_INSTALL_ISR2( "Can", Can_C_BusOff, FLEXCAN_C_ESR_BOFF_INT, 2, 0 );\r
+               }\r
+               if(cfgCtrlPtr->Can_Arc_Flags &  CAN_CTRL_ERROR_PROCESSING_INTERRUPT){\r
+               ISR_INSTALL_ISR2( "Can", Can_C_Err, FLEXCAN_C_ESR_ERR_INT, 2, 0 );\r
+               }\r
+               if(cfgCtrlPtr->Can_Arc_Flags &  (CAN_CTRL_TX_PROCESSING_INTERRUPT | CAN_CTRL_RX_PROCESSING_INTERRUPT)){\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
+               ISR_INSTALL_ISR2( "Can", Can_C_Isr, FLEXCAN_C_IFLAG1_BUF63_32I, 2, 0 );\r
+               }\r
         break;\r
         case CAN_CTRL_D:\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
-        ISR_INSTALL_ISR2( "Can", Can_A_Isr, FLEXCAN_D_IFLAG1_BUF63_32I, 2, 0 );\r
+               if(cfgCtrlPtr->Can_Arc_Flags &  CAN_CTRL_BUSOFF_PROCESSING_INTERRUPT){\r
+               ISR_INSTALL_ISR2( "Can", Can_D_BusOff, FLEXCAN_D_ESR_BOFF_INT, 2, 0 );\r
+               }\r
+               if(cfgCtrlPtr->Can_Arc_Flags &  CAN_CTRL_ERROR_PROCESSING_INTERRUPT){\r
+               ISR_INSTALL_ISR2( "Can", Can_D_Err, FLEXCAN_D_ESR_ERR_INT, 2, 0 );\r
+               }\r
+               if(cfgCtrlPtr->Can_Arc_Flags &  (CAN_CTRL_TX_PROCESSING_INTERRUPT | CAN_CTRL_RX_PROCESSING_INTERRUPT)){\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
+               ISR_INSTALL_ISR2( "Can", Can_D_Isr, FLEXCAN_D_IFLAG1_BUF63_32I, 2, 0 );\r
+               }\r
         break;\r
         case CAN_CTRL_E:\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
-        ISR_INSTALL_ISR2( "Can", Can_A_Isr, FLEXCAN_E_IFLAG1_BUF63_32I, 2, 0 );\r
+               if(cfgCtrlPtr->Can_Arc_Flags &  CAN_CTRL_BUSOFF_PROCESSING_INTERRUPT){\r
+               ISR_INSTALL_ISR2( "Can", Can_E_BusOff, FLEXCAN_E_ESR_BOFF_INT, 2, 0 );\r
+               }\r
+               if(cfgCtrlPtr->Can_Arc_Flags &  CAN_CTRL_ERROR_PROCESSING_INTERRUPT){\r
+               ISR_INSTALL_ISR2( "Can", Can_E_Err, FLEXCAN_E_ESR_ERR_INT, 2, 0 );\r
+               }\r
+               if(cfgCtrlPtr->Can_Arc_Flags &  (CAN_CTRL_TX_PROCESSING_INTERRUPT | CAN_CTRL_RX_PROCESSING_INTERRUPT)){\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
+               ISR_INSTALL_ISR2( "Can", Can_E_Isr, FLEXCAN_E_IFLAG1_BUF63_32I, 2, 0 );\r
+               }\r
         break;\r
        #if defined(CFG_MPC5516) || defined(CFG_MPC5517) || defined(CFG_MPC5668)\r
         case CAN_CTRL_F:\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
-        ISR_INSTALL_ISR2( "Can", Can_A_Isr, FLEXCAN_F_IFLAG1_BUF63_32I, 2, 0 );\r
+               if(cfgCtrlPtr->Can_Arc_Flags &  CAN_CTRL_BUSOFF_PROCESSING_INTERRUPT){\r
+               ISR_INSTALL_ISR2( "Can", Can_F_BusOff, FLEXCAN_F_ESR_BOFF_INT, 2, 0 );\r
+               }\r
+               if(cfgCtrlPtr->Can_Arc_Flags &  CAN_CTRL_ERROR_PROCESSING_INTERRUPT){\r
+               ISR_INSTALL_ISR2( "Can", Can_F_Err, FLEXCAN_F_ESR_ERR_INT, 2, 0 );\r
+               }\r
+               if(cfgCtrlPtr->Can_Arc_Flags &  (CAN_CTRL_TX_PROCESSING_INTERRUPT | CAN_CTRL_RX_PROCESSING_INTERRUPT)){\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
+               ISR_INSTALL_ISR2( "Can", Can_F_Isr, FLEXCAN_F_IFLAG1_BUF63_32I, 2, 0 );\r
+               }\r
         break;\r
        #endif\r
 #endif\r
@@ -1201,11 +1273,9 @@ void Can_EnableControllerInterrupts(uint8 controller)
         canHw->IMRH.R |= (uint32_t)(canUnit->Can_Arc_TxMbMask>>32);\r
     }\r
 \r
-    // BusOff here represents all errors and warnings\r
+    // BusOff and warnings\r
     if (canUnit->cfgCtrlPtr->Can_Arc_Flags &  CAN_CTRL_BUSOFF_PROCESSING_INTERRUPT) {\r
         canHw->MCR.B.WRNEN = 1; /* Turn On warning int */\r
-\r
-        canHw->CR.B.ERRMSK = 1; /* Enable error interrupt */\r
         canHw->CR.B.BOFFMSK = 1; /* Enable bus-off interrupt */\r
 \r
 #if (USE_CAN_STATISTICS == STD_ON)\r
@@ -1214,6 +1284,11 @@ void Can_EnableControllerInterrupts(uint8 controller)
 #endif\r
     }\r
 \r
+    // errors\r
+    if (canUnit->cfgCtrlPtr->Can_Arc_Flags &  CAN_CTRL_ERROR_PROCESSING_INTERRUPT) {\r
+        canHw->CR.B.ERRMSK = 1; /* Enable error interrupt */\r
+    }\r
+\r
     return;\r
 }\r
 \r

diff --git a/include/Can.h b/include/Can.h
index 785f22c112a347300ad3f0d8c56dc176d542b5d7..5b453a3f05542e0bb8fa8610ffa339d4e4374444 100644 (file)
--- a/include/Can.h
+++ b/include/Can.h
@@ -76,6 +76,9 @@
 #define CAN_CTRL_LOOPBACK                       (1UL<<5)\r
 #define CAN_CTRL_FIFO                           (1UL<<6)\r
 \r
+#define CAN_CTRL_ERROR_PROCESSING_INTERRUPT    (1UL<<7)\r
+#define CAN_CTRL_ERRO_PROCESSING_POLLING      0\r
+\r
 #endif\r
 \r
 #include "Std_Types.h"\r