DMP_INLINE(void) can_RoundRobin(CAN_Bus *can)
{
CANFrame temp;
if (QueueEmpty(can->xmit))
return;
io_DisableINT();
if (!(io_In32(can->ioHandle, can->REQ) & (0x01L << (can->round*2))))
{
PopBufQueue(can->xmit, (void*)&temp);
io_Out32(can->ioHandle, can->TX[can->round].TYPE , (unsigned long)temp.type | ((unsigned long)temp.length << 4));
io_Out32(can->ioHandle, can->TX[can->round].IDR , temp.identifier);
io_Out32(can->ioHandle, can->TX[can->round].DATAL, temp.Data.dword[0]);
io_Out32(can->ioHandle, can->TX[can->round].DATAH, temp.Data.dword[1]);
io_Out32(can->ioHandle, can->REQ, io_In32(can->ioHandle, can->REQ) | (0x01UL << (can->round*2)));
can->round++;
if (can->round == 3)
can->round = 0;
}
io_RestoreINT();
}
DMP_INLINE(void) can_Reset(CAN_Bus *can) // does not reset ID filter table
{
int i;
unsigned long gcr;
if (can == NULL) { err_print((char*)"%s: CAN bus is null.\n", __FUNCTION__); return; }
if (can->InUse != 1) { err_print((char*)"%s: CAN bus is not in use.\n", __FUNCTION__); return; }
/* Software reset */
io_Out32(can->handle, can->GCR, io_In32(can->handle, can->GCR) | 0x01L); // reset CAN registers
while (io_In32(can->handle, can->GCR) & 0x01L);
can->state = CAN_STAT_ACTIVE;
can->error = CAN_ERROR_NONE;
can->ArbiLost_CNT = 0;
can->Overrun_CNT = 0;
can->TEC = 0;
can->REC = 0;
for (i = 0; i < 3; i++)
memset((void*)&can->TX[i], 0, sizeof(can->TX[i]));
memset((void*)&can->RX , 0, sizeof(can->RX) );
can_FlushRxQueue((void *)can);
can_FlushTxQueue((void *)can);
io_DisableINT();
{
io_Out32(can->handle, can->IER, CAN_ALL_INT);
}
io_RestoreINT();
gcr = io_In32(can->handle, can->GCR);
if (can->mode & CAN_ID_BYPASS) gcr |= 0x0004000L;
if (can->mode & CAN_POWER_SAVING) gcr |= 0x0100000L;
io_Out32(can->handle, can->GCR, gcr |= 0x20382L); // Error retry, Arbitration lost retry, Round Robin
// Idenfitier filter enable
while (io_In32(can->handle, can->GCR) != gcr);
}
static int CAN_ISR(int irq, void *data)
{
unsigned long isr;
CAN_Bus *can = (CAN_Bus *)data;
if (((isr = io_In32(can->handle, can->ISR)) & 0x07FFL) != 0x00L)
{
if (isr & CAN_RXI)
{
io_DisableINT();
{
can->rx_temp.type = (unsigned char)io_In32(can->handle, can->RX.TYPE);
can->rx_temp.id = io_In32(can->handle, can->RX.IDR);
can->rx_temp.hdata = io_In32(can->handle, can->RX.DATAH);
can->rx_temp.ldata = io_In32(can->handle, can->RX.DATAL);
PushBufQueue(can->rcvd, (void*)&can->rx_temp);
}
io_RestoreINT();
io_Out32(can->handle, can->REQ, 0x0100L); // release the received message
io_Out32(can->handle, can->ISR, CAN_RXI);
}
if (isr & CAN_TX0I)
{
unsigned long stat;
stat = io_In32(can->handle, can->TX[0].STAT);
if (stat & 0x20L)
{
can->TX[0].Err_CNT++;
can->error = CAN_ERROR_TX0 + (unsigned char)((stat & 0x00070000L) >> 16);
if (can->ErrStoreEnable == true)
PushQueue(can->err, can->error);
if (can->error_handler != NULL) can->error_handler(can);
}
if ((stat & 0x07L) == 0x05L) can_RoundRobin(can);
io_Out32(can->handle, can->ISR, CAN_TX0I);
}
static int CAN_ISR(int irq, void *data)
{
unsigned long isr;
CAN_Bus *can = (CAN_Bus *)data;
if (((isr = io_In32(can->ioHandle, can->ISR)) & 0x07FFL) != 0x00L)
{
if (isr & CAN_RXI)
{
unsigned long temp;
CANFrame rx_temp;
io_DisableINT();
{
temp = io_In32(can->ioHandle, can->RX.TYPE);
rx_temp.type = (int)(temp & 0x03UL);
rx_temp.length = (int)((temp >> 4) & 0x0FUL);
rx_temp.identifier = io_In32(can->ioHandle, can->RX.IDR);
rx_temp.Data.dword[0] = io_In32(can->ioHandle, can->RX.DATAL);
rx_temp.Data.dword[1] = io_In32(can->ioHandle, can->RX.DATAH);
PushBufQueue(can->rcvd, (void*)&rx_temp);
}
io_RestoreINT();
io_Out32(can->ioHandle, can->REQ, 0x0100UL); // release the received message
io_Out32(can->ioHandle, can->ISR, CAN_RXI);
}
if (isr & CAN_TX0I)
{
unsigned long stat;
stat = io_In32(can->ioHandle, can->TX[0].STAT);
if (stat & 0x20UL)
{
can->LastError = CAN_ERROR_TX0 + (unsigned char)((stat & 0x00070000UL) >> 16);
if (can->StoreError)
PushQueue(can->Error, can->LastError);
}
DMP_INLINE(void) can_RoundRobin(CAN_Bus *can)
{
if (QueueEmpty(can->xmit)) return;
io_DisableINT();
{
if (!(io_In32(can->handle, can->REQ) & (0x01L << (round*2))))
{
PopBufQueue(can->xmit, (void*)&can->tx_temp);
io_Out32(can->handle, can->TX[round].TYPE , (unsigned long)can->tx_temp.type);
io_Out32(can->handle, can->TX[round].IDR , can->tx_temp.id);
io_Out32(can->handle, can->TX[round].DATAL, can->tx_temp.ldata);
io_Out32(can->handle, can->TX[round].DATAH, can->tx_temp.hdata);
io_Out32(can->handle, can->REQ, io_In32(can->handle, can->REQ) | (0x01L << (round*2)));
round++;
if (round == 3) round = 0;
}
}
io_RestoreINT();
}
