/*FUNCTION*-------------------------------------------------------------------
*
* Function Name : _bsp_flexcan_io_init
* Returned Value : 0 or 1 for success, -1 for failure
* Comments :
* This function performs BSP-specific initialization related to FLEXCAN
*
*END*----------------------------------------------------------------------*/
_mqx_int _bsp_flexcan_io_init
(
uint_8 dev_num
)
{
volatile CAN_MemMapPtr can_reg_ptr;
SIM_MemMapPtr sim = SIM_BASE_PTR;
PORT_MemMapPtr pctl;
OSC_CR |= OSC_CR_ERCLKEN_MASK;
switch (dev_num)
{
case 0:
/* Configure GPIO for FlexCAN 0 peripheral function */
pctl = (PORT_MemMapPtr)PORTA_BASE_PTR;
pctl->PCR[12] = (PORT_PCR_MUX(2)|PORT_PCR_DSE_MASK); /* CAN0_TX.A12 */
pctl->PCR[13] = (PORT_PCR_MUX(2)|PORT_PCR_DSE_MASK); /* CAN0_RX.A13 */
/* Alternate GPIO pins for FlexCAN 0 peripheral function */
//pctl = (PORT_MemMapPtr)PORTB_BASE_PTR;
//pctl->PCR[18] = (PORT_PCR_MUX(2)|PORT_PCR_DSE_MASK); /* CAN0_TX.B18 */
//pctl->PCR[19] = (PORT_PCR_MUX(2)|PORT_PCR_DSE_MASK); /* CAN0_RX.B19 */
/* Enable clock gate to FlexCAN 0 module */
sim->SCGC6 |= SIM_SCGC6_FLEXCAN0_MASK;
/* Select the bus clock as CAN engine clock source */
can_reg_ptr = _bsp_get_flexcan_base_address (0);
can_reg_ptr->CTRL1 |= CAN_CTRL1_CLKSRC_MASK;
break;
case 1:
/* Configure GPIO for FlexCAN 1 peripheral function */
pctl = (PORT_MemMapPtr)PORTE_BASE_PTR;
pctl->PCR[24] = (PORT_PCR_MUX(2)|PORT_PCR_DSE_MASK); /* CAN1_TX.E24 */
pctl->PCR[25] = (PORT_PCR_MUX(2)|PORT_PCR_DSE_MASK); /* CAN1_RX.E25 */
/* Alternate GPIO pins for FlexCAN 1 peripheral function */
//pctl = (PORT_MemMapPtr)PORTC_BASE_PTR;
//pctl->PCR[17] = (PORT_PCR_MUX(2)|PORT_PCR_DSE_MASK); /* CAN1_TX.C17 */
//pctl->PCR[16] = (PORT_PCR_MUX(2)|PORT_PCR_DSE_MASK); /* CAN1_RX.C16 */
/* Enable clock gate to FlexCAN 1 module */
sim->SCGC3 |= SIM_SCGC3_FLEXCAN1_MASK;
/* Select the bus clock as CAN engine clock source */
can_reg_ptr = _bsp_get_flexcan_base_address (1);
can_reg_ptr->CTRL1 |= CAN_CTRL1_CLKSRC_MASK;
break;
default:
return -1;
}
return 0;
}
/*FUNCTION****************************************************************
*
* Function Name : FLEXCAN_Install_isr_wake_int
* Returned Value : uint32_t
* Comments :
* This function installs interrupt handler for a flexcan wake-up
*
*END*********************************************************************/
uint32_t FLEXCAN_Install_isr_wake_int
(
/* [IN] FlexCAN device number */
uint8_t dev_num,
/* [IN] Interrupt service routine */
INT_ISR_FPTR isr
)
{
uint32_t return_code = FLEXCAN_OK;
INT_ISR_FPTR result;
volatile FLEXCAN_REG_STRUCT_PTR can_reg_ptr;
volatile PSP_INTERRUPT_TABLE_INDEX index;
can_reg_ptr = _bsp_get_flexcan_base_address (dev_num);
if (NULL == can_reg_ptr)
{
return (FLEXCAN_INVALID_ADDRESS);
}
index = _bsp_get_flexcan_vector (dev_num, FLEXCAN_INT_WAKEUP, 0);
if (0 == index)
{
return (FLEXCAN_INT_INSTALL_FAILED);
}
result = _int_install_isr (index, isr, (void *)can_reg_ptr);
if(result == (INT_ISR_FPTR)NULL)
{
return_code = _task_get_error();
}
return return_code;
}
/*FUNCTION****************************************************************
*
* Function Name : FLEXCAN_int_status
* Returned Value : uint32_t
* Comments :
* This function gets the FlexCAN interrupt status.
*
*END*********************************************************************/
uint32_t FLEXCAN_Int_status
(
/* [IN] FlexCAN device number */
uint8_t dev_num
)
{
volatile FLEXCAN_REG_STRUCT_PTR can_reg_ptr;
volatile uint32_t tmp_reg;
can_reg_ptr = _bsp_get_flexcan_base_address (dev_num);
if (NULL == can_reg_ptr)
{
return (FLEXCAN_INVALID_ADDRESS);
}
// check Tx/Rx interrupt flag
tmp_reg = (can_reg_ptr->IFLAG & FLEXCAN_IMASK_VALUE);
if(tmp_reg)
{
return (uint32_t)(FLEXCAN_TX_RX_INT);
}
// check error interrupt
tmp_reg = (can_reg_ptr->ERRSTAT & FLEXCAN_ERROR_INT);
if(tmp_reg)
{
return (FLEXCAN_ERROR_INT);
}
// check busoff interrupt
tmp_reg = (can_reg_ptr->ERRSTAT & FLEXCAN_BUSOFF_INT);
if(tmp_reg)
{
return (FLEXCAN_BUSOFF_INT);
}
// check busoff interrupt
tmp_reg = (can_reg_ptr->ERRSTAT & FLEXCAN_WAKEUP_INT);
if(tmp_reg)
{
return (FLEXCAN_WAKEUP_INT);
}
return (FLEXCAN_OK);
}
/*FUNCTION****************************************************************
*
* Function Name : FLEXCAN_Install_isr_ex
* Returned Value : uint32_t
* Comments :
* This function installs interrupt handler for requested mailbox
*
*END*********************************************************************/
uint32_t FLEXCAN_Install_isr_ex
(
/* [IN] FlexCAN device number */
uint8_t dev_num,
/* [IN] mailbox number */
uint32_t mailbox_number,
/* [IN] Interrupt service routine */
INT_ISR_FPTR isr,
/* [IN] Interrupt service routine */
void *isr_data
)
{
volatile FLEXCAN_REG_STRUCT_PTR can_reg_ptr;
uint32_t return_code = FLEXCAN_OK;
INT_ISR_FPTR result;
volatile PSP_INTERRUPT_TABLE_INDEX index;
can_reg_ptr = _bsp_get_flexcan_base_address (dev_num);
if (NULL == can_reg_ptr)
{
return (FLEXCAN_INVALID_ADDRESS);
}
if ( mailbox_number > (FLEXCAN_CANMCR_MAXMB (0xFFFFFFFF)) )
{
return (FLEXCAN_INVALID_MAILBOX);
}
index = _bsp_get_flexcan_vector (dev_num, FLEXCAN_INT_BUF, mailbox_number);
if (0 == index)
{
return (FLEXCAN_INT_INSTALL_FAILED);
}
/* Install ISR */
result = _int_install_isr (index, isr, (void *)isr_data);
if(result == (INT_ISR_FPTR)NULL)
{
return_code = _task_get_error();
}
return return_code;
}
/*FUNCTION****************************************************************
*
* Function Name : FLEXCAN_Error_int_enable
* Returned Value : uint32_t
* Comments :
* This function unmasks (enables) error, wake up & Bus off interrupts.
*
*
*END*********************************************************************/
uint32_t FLEXCAN_Error_int_enable
(
/* [IN] FlexCAN device number */
uint8_t dev_num
)
{
volatile FLEXCAN_REG_STRUCT_PTR can_reg_ptr;
volatile PSP_INTERRUPT_TABLE_INDEX index;
can_reg_ptr = _bsp_get_flexcan_base_address (dev_num);
if (NULL == can_reg_ptr)
{
return (FLEXCAN_INVALID_ADDRESS);
}
index = _bsp_get_flexcan_vector (dev_num, FLEXCAN_INT_ERR, 0);
if (0 == index)
{
return (FLEXCAN_INT_ENABLE_FAILED);
}
if (_flexcan_int_init (index, FLEXCAN_ERROR_INT_LEVEL, FLEXCAN_ERROR_INT_SUBLEVEL, TRUE) != MQX_OK)
{
return (FLEXCAN_INT_ENABLE_FAILED);
}
index = _bsp_get_flexcan_vector (dev_num, FLEXCAN_INT_BOFF, 0);
if (0 == index)
{
return (FLEXCAN_INT_ENABLE_FAILED);
}
if (_flexcan_int_init (index, FLEXCAN_BUSOFF_INT_LEVEL, FLEXCAN_BUSOFF_INT_SUBLEVEL, TRUE) != MQX_OK)
{
return (FLEXCAN_INT_ENABLE_FAILED);
}
/* BOFFMSK = 0x1, ERRMSK = 0x1 */
can_reg_ptr->CANCTRL |= (FLEXCAN_CANCTRL_BOFFMSK | FLEXCAN_CANCTRL_ERRMSK);
return ( FLEXCAN_OK );
}
/*FUNCTION****************************************************************
*
* Function Name : FLEXCAN_Install_isr
* Returned Value : uint32_t
* Comments :
* This function installs interrupt handler for requested mailbox
*
*END*********************************************************************/
uint32_t FLEXCAN_Install_isr
(
/* [IN] FlexCAN device number */
uint8_t dev_num,
/* [IN] mailbox number */
uint32_t mailbox_number,
/* [IN] Interrupt service routine */
INT_ISR_FPTR isr
)
{
volatile FLEXCAN_REG_STRUCT_PTR can_reg_ptr;
can_reg_ptr = _bsp_get_flexcan_base_address (dev_num);
if (NULL == can_reg_ptr)
{
return (FLEXCAN_INVALID_ADDRESS);
}
return FLEXCAN_Install_isr_ex(dev_num, mailbox_number, isr, (void *) can_reg_ptr);
}
/*FUNCTION****************************************************************
*
* Function Name : FLEXCAN_int_disable
* Returned Value : uint32_t
* Comments :
* This function masks (disables) interrupt for requested mailbox
*
*END*********************************************************************/
uint32_t FLEXCAN_Int_disable
(
/* [IN] FlexCAN device number */
uint8_t dev_num,
/* [IN] mailbox number */
uint32_t mailbox_number
)
{
volatile FLEXCAN_REG_STRUCT_PTR can_reg_ptr;
volatile PSP_INTERRUPT_TABLE_INDEX index;
can_reg_ptr = _bsp_get_flexcan_base_address (dev_num);
if (NULL == can_reg_ptr)
{
return (FLEXCAN_INVALID_ADDRESS);
}
if ( mailbox_number > (FLEXCAN_CANMCR_MAXMB (0xFFFFFFFF)) )
{
return (FLEXCAN_INVALID_MAILBOX);
}
/* Start CR# 1750 */
can_reg_ptr->IMASK &= ~(0x1 << mailbox_number);
/* End CR# 1750 */
index = _bsp_get_flexcan_vector (dev_num, FLEXCAN_INT_BUF, mailbox_number);
if (0 == index)
{
return (FLEXCAN_INT_DISABLE_FAILED);
}
/* Disable the interrupt */
if (_flexcan_int_init (index, FLEXCAN_MESSBUF_INT_LEVEL, FLEXCAN_MESSBUF_INT_SUBLEVEL, FALSE) != MQX_OK)
{
return (FLEXCAN_INT_DISABLE_FAILED);
}
return (FLEXCAN_OK);
}
/*FUNCTION****************************************************************
*
* Function Name : FLEXCAN_int_enable
* Returned Value : uint32_t
* Comments :
* This function enables interrupt for requested mailbox
*
*END*********************************************************************/
uint32_t FLEXCAN_Int_enable
(
/* [IN] FlexCAN device number */
uint8_t dev_num,
/* [IN] mailbox number */
uint32_t mailbox_number
)
{
volatile FLEXCAN_REG_STRUCT_PTR can_reg_ptr;
volatile PSP_INTERRUPT_TABLE_INDEX index;
can_reg_ptr = _bsp_get_flexcan_base_address (dev_num);
if (NULL == can_reg_ptr)
{
return (FLEXCAN_INVALID_ADDRESS);
}
if ( mailbox_number > (FLEXCAN_CANMCR_MAXMB (0xFFFFFFFF)) )
{
return (FLEXCAN_INVALID_MAILBOX);
}
index = _bsp_get_flexcan_vector (dev_num, FLEXCAN_INT_BUF, mailbox_number);
if (0 == index)
{
return (FLEXCAN_INT_ENABLE_FAILED);
}
if (_flexcan_int_init (index, FLEXCAN_MESSBUF_INT_LEVEL, FLEXCAN_MESSBUF_INT_SUBLEVEL, TRUE) != MQX_OK)
{
return (FLEXCAN_INT_ENABLE_FAILED);
}
/* IMASK, unmask the message buffer */
(can_reg_ptr->IMASK) |= (0x1 << mailbox_number);
return( FLEXCAN_OK );
}
