dd7457dc35
git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@4255 42af7a65-404d-4744-a932-0658087f49c3
971 lines
27 KiB
C
Executable File
971 lines
27 KiB
C
Executable File
/************************************************************************************
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* arch/arm/src/lpc17xx/lpc17_can.c
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*
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* Copyright (C) 2011 Li Zhuoyi. All rights reserved.
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* Copyright (C) 2012 Gregory Nutt. All rights reserved.
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* Authors:
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* Li Zhuoyi <lzyy.cn@gmail.com>
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* Gregory Nutt <gnutt@nuttx.org>
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* History:
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* 2011-07-12: Initial version (Li Zhuoyi)
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* 2011-08-03: Support CAN1/CAN2 (Li Zhuoyi)
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* 2012-01-02: Add support for CAN loopback mode (Gregory Nutt)
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*
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* This file is a part of NuttX:
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*
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* Copyright (C) 2010 Gregory Nutt. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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************************************************************************************/
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#include <nuttx/config.h>
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#include <stdio.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <semaphore.h>
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#include <errno.h>
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#include <debug.h>
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#include <arch/board/board.h>
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#include <nuttx/arch.h>
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#include <nuttx/can.h>
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#include "up_internal.h"
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#include "up_arch.h"
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#include "chip.h"
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#include "lpc17_internal.h"
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#include "lpc17_syscon.h"
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#include "lpc17_pinconn.h"
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#include "lpc17_can.h"
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#if defined(CONFIG_LPC17_CAN1) || defined(CONFIG_LPC17_CAN2)
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/* Debug ********************************************************************/
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/* Non-standard debug that may be enabled just for testing CAN */
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#if !defined(CONFIG_DEBUG) || !defined(CONFIG_DEBUG_CAN)
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# undef CONFIG_CAN_REGDEBUG
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#endif
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#ifdef CONFIG_DEBUG_CAN
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# ifdef CONFIG_CAN_REGDEBUG
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# define candbg lldbg
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# define canvdbg llvdbg
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# else
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# define candbg dbg
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# define canvdbg vdbg
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# endif
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# define canlldbg lldbg
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# define canllvdbg llvdbg
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#else
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# define candbg(x...)
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# define canvdbg(x...)
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# define canlldbg(x...)
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# define canllvdbg(x...)
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#endif
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/****************************************************************************
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* Private Types
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****************************************************************************/
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struct up_dev_s
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{
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uint8_t port; /* CAN port number */
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uint32_t baud; /* Configured baud */
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uint32_t base; /* CAN register base address */
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};
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/****************************************************************************
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* Private Function Prototypes
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****************************************************************************/
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/* CAN Register access */
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#ifdef CONFIG_CAN_REGDEBUG
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static void can_printreg(uint32_t addr, uint32_t value);
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#endif
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static uint32_t can_getreg(struct up_dev_s *priv, int offset);
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static void can_putreg(struct up_dev_s *priv, int offset, uint32_t value);
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#ifdef CONFIG_CAN_REGDEBUG
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static uint32_t can_getcommon(uint32_t addr);
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static void can_putcommon(uint32_t addr, uint32_t value);
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#else
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# define can_getcommon(addr) getreg32(addr)
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# define can_putcommon(addr, value) putreg32(value, addr)
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#endif
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/* CAN methods */
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static void can_reset(FAR struct can_dev_s *dev);
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static int can_setup(FAR struct can_dev_s *dev);
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static void can_shutdown(FAR struct can_dev_s *dev);
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static void can_rxint(FAR struct can_dev_s *dev, bool enable);
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static void can_txint(FAR struct can_dev_s *dev, bool enable);
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static int can_ioctl(FAR struct can_dev_s *dev, int cmd, unsigned long arg);
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static int can_remoterequest(FAR struct can_dev_s *dev, uint16_t id);
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static int can_send(FAR struct can_dev_s *dev, FAR struct can_msg_s *msg);
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static bool can_txempty(FAR struct can_dev_s *dev);
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static void can_interrupt(FAR struct can_dev_s *dev);
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static int can12_interrupt(int irq, void *context);
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/****************************************************************************
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* Private Data
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****************************************************************************/
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static const struct can_ops_s g_canops =
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{
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.co_reset = can_reset,
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.co_setup = can_setup,
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.co_shutdown = can_shutdown,
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.co_rxint = can_rxint,
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.co_txint = can_txint,
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.co_ioctl = can_ioctl,
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.co_remoterequest = can_remoterequest,
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.co_send = can_send,
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.co_txempty = can_txempty,
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};
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#ifdef CONFIG_LPC17_CAN1
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static struct up_dev_s g_can1priv =
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{
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.port = 1,
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.baud = CONFIG_CAN1_BAUD,
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.base = LPC17_CAN1_BASE,
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};
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static struct can_dev_s g_can1dev =
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{
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.cd_ops = &g_canops,
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.cd_priv = &g_can1priv,
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};
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#endif
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#ifdef CONFIG_LPC17_CAN2
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static struct up_dev_s g_can2priv =
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{
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.port = 2,
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.baud = CONFIG_CAN2_BAUD,
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.base = LPC17_CAN2_BASE,
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};
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static struct can_dev_s g_can2dev =
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{
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.cd_ops = &g_canops,
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.cd_priv = &g_can2priv,
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};
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#endif
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Name: can_printreg
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*
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* Description:
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* Print the value read from a register.
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*
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* Input Parameters:
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* addr - The register address
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* value - The register value
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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#ifdef CONFIG_CAN_REGDEBUG
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static void can_printreg(uint32_t addr, uint32_t value)
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{
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static uint32_t prevaddr = 0;
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static uint32_t preval = 0;
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static uint32_t count = 0;
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/* Is this the same value that we read from the same register last time?
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* Are we polling the register? If so, suppress some of the output.
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*/
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if (addr == prevaddr && value == preval)
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{
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if (count == 0xffffffff || ++count > 3)
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{
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if (count == 4)
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{
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lldbg("...\n");
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}
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return;
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}
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}
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/* No this is a new address or value */
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else
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{
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/* Did we print "..." for the previous value? */
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if (count > 3)
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{
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/* Yes.. then show how many times the value repeated */
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lldbg("[repeats %d more times]\n", count-3);
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}
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/* Save the new address, value, and count */
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prevaddr = addr;
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preval = value;
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count = 1;
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}
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/* Show the register value read */
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lldbg("%08x->%08x\n", addr, value);
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}
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#endif
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/****************************************************************************
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* Name: can_getreg
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*
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* Description:
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* Read the value of an CAN1/2 register.
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*
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* Input Parameters:
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* priv - A reference to the CAN block status
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* offset - The offset to the register to read
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*
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* Returned Value:
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*
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****************************************************************************/
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#ifdef CONFIG_CAN_REGDEBUG
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static uint32_t can_getreg(struct up_dev_s *priv, int offset)
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{
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uint32_t addr;
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uint32_t value;
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/* Read the value from the register */
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addr = priv->base + offset;
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value = getreg32(addr);
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can_printreg(addr, value);
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return value;
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}
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#else
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static uint32_t can_getreg(struct up_dev_s *priv, int offset)
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{
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return getreg32(priv->base + offset);
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}
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#endif
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/****************************************************************************
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* Name: can_putreg
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*
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* Description:
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* Set the value of an CAN1/2 register.
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*
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* Input Parameters:
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* priv - A reference to the CAN block status
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* offset - The offset to the register to write
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* value - The value to write to the register
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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#ifdef CONFIG_CAN_REGDEBUG
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static void can_putreg(struct up_dev_s *priv, int offset, uint32_t value)
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{
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uint32_t addr = priv->base + offset;
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/* Show the register value being written */
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lldbg("%08x<-%08x\n", addr, value);
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/* Write the value */
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putreg32(value, addr);
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}
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#else
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static void can_putreg(struct up_dev_s *priv, int offset, uint32_t value)
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{
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putreg32(value, priv->base + offset);
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}
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#endif
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/****************************************************************************
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* Name: can_getcommon
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*
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* Description:
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* Get the value of common register.
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*
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* Input Parameters:
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* addr - The address of the register to read
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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#ifdef CONFIG_CAN_REGDEBUG
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static uint32_t can_getcommon(uint32_t addr)
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{
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uint32_t value;
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/* Read the value from the register */
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value = getreg32(addr);
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can_printreg(addr, value);
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return value;
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}
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#endif
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/****************************************************************************
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* Name: can_putcommon
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*
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* Description:
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* Set the value of common register.
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*
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* Input Parameters:
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* addr - The address of the register to write
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* value - The value to write to the register
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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#ifdef CONFIG_CAN_REGDEBUG
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static void can_putcommon(uint32_t addr, uint32_t value)
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{
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/* Show the register value being written */
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lldbg("%08x<-%08x\n", addr, value);
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/* Write the value */
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putreg32(value, addr);
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}
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#endif
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/****************************************************************************
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* Name: can_reset
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*
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* Description:
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* Reset the CAN device. Called early to initialize the hardware. This
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* function is called, before can_setup() and on error conditions.
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*
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* Input Parameters:
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* dev - An instance of the "upper half" can driver state structure.
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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static void can_reset(FAR struct can_dev_s *dev)
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{
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FAR struct up_dev_s *priv = (FAR struct up_dev_s *)dev->cd_priv;
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uint32_t baud;
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irqstate_t flags;
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canvdbg("CAN%d\n", priv->port);
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#warning "BTR setting must be calculated from priv->baud"
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baud = 0x25c003;
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flags = irqsave();
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can_putreg(priv, LPC17_CAN_MOD_OFFSET, CAN_MOD_RM); /* Enter Reset Mode */
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can_putreg(priv, LPC17_CAN_IER_OFFSET, 0); /* Disable interrupts */
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can_putreg(priv, LPC17_CAN_GSR_OFFSET, 0); /* Clear status bits */
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can_putreg(priv, LPC17_CAN_CMR_OFFSET, CAN_CMR_AT); /* Abort transmission */
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can_putreg(priv, LPC17_CAN_BTR_OFFSET, baud); /* Set bit timing */
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#ifdef CONFIG_CAN_LOOPBACK
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can_putreg(priv, LPC17_CAN_MOD_OFFSET, CAN_MOD_STM); /* Leave Reset Mode, enter Test Mode */
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#else
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can_putreg(priv, LPC17_CAN_MOD_OFFSET, 0); /* Leave Reset Mode */
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#endif
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can_putcommon(LPC17_CANAF_AFMR, CANAF_AFMR_ACCBP); /* All RX messages accepted */
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irqrestore(flags);
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}
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/****************************************************************************
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* Name: can_setup
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*
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* Description:
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* Configure the CAN. This method is called the first time that the CAN
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* device is opened. This will occur when the port is first opened.
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* This setup includes configuring and attaching CAN interrupts.
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* All CAN interrupts are disabled upon return.
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*
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* Input Parameters:
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* dev - An instance of the "upper half" can driver state structure.
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*
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* Returned Value:
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* Zero on success; a negated errno on failure
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*
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****************************************************************************/
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static int can_setup(FAR struct can_dev_s *dev)
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{
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#ifdef CONFIG_DEBUG_CAN
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FAR struct up_dev_s *priv = (FAR struct up_dev_s *)dev->cd_priv;
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#endif
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int ret;
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canvdbg("CAN%d\n", priv->port);
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ret = irq_attach(LPC17_IRQ_CAN, can12_interrupt);
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if (ret == OK)
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{
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up_enable_irq(LPC17_IRQ_CAN);
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}
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return ret;
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}
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/****************************************************************************
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* Name: can_shutdown
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*
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* Description:
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* Disable the CAN. This method is called when the CAN device is closed.
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* This method reverses the operation the setup method.
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*
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* Input Parameters:
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* dev - An instance of the "upper half" can driver state structure.
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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static void can_shutdown(FAR struct can_dev_s *dev)
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{
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#ifdef CONFIG_DEBUG_CAN
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FAR struct up_dev_s *priv = (FAR struct up_dev_s *)dev->cd_priv;
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canvdbg("CAN%d\n", priv->port);
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#endif
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up_disable_irq(LPC17_IRQ_CAN);
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irq_detach(LPC17_IRQ_CAN);
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}
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/****************************************************************************
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* Name: can_rxint
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*
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* Description:
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* Call to enable or disable RX interrupts.
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*
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* Input Parameters:
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* dev - An instance of the "upper half" can driver state structure.
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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static void can_rxint(FAR struct can_dev_s *dev, bool enable)
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{
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FAR struct up_dev_s *priv = (FAR struct up_dev_s *)dev->cd_priv;
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uint32_t regval;
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irqstate_t flags;
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canvdbg("CAN%d enable: %d\n", priv->port, enable);
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/* The EIR register is also modifed from the interrupt handler, so we have
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* to protect this code section.
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*/
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flags = irqsave();
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regval = can_getreg(priv, LPC17_CAN_IER_OFFSET);
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if (enable)
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{
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regval |= CAN_IER_RIE;
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}
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else
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{
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regval &= ~CAN_IER_RIE;
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}
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can_putreg(priv, LPC17_CAN_IER_OFFSET, regval);
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irqrestore(flags);
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}
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/****************************************************************************
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* Name: can_txint
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*
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* Description:
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* Call to enable or disable TX interrupts.
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*
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* Input Parameters:
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* dev - An instance of the "upper half" can driver state structure.
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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static void can_txint(FAR struct can_dev_s *dev, bool enable)
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{
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FAR struct up_dev_s *priv = (FAR struct up_dev_s *)dev->cd_priv;
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uint32_t regval;
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irqstate_t flags;
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canvdbg("CAN%d enable: %d\n", priv->port, enable);
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/* Only disabling of the TX interrupt is supported here. The TX interrupt
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* is automatically enabled just before a message is sent in order to avoid
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* lost TX interrupts.
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*/
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if (!enable)
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{
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/* TX interrupts are also disabled from the interrupt handler, so we have
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* to protect this code section.
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*/
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flags = irqsave();
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/* Disable all TX interrupts */
|
|
|
|
regval = can_getreg(priv, LPC17_CAN_IER_OFFSET);
|
|
regval &= ~(CAN_IER_TIE1 | CAN_IER_TIE2 | CAN_IER_TIE3);
|
|
can_putreg(priv, LPC17_CAN_IER_OFFSET, regval);
|
|
irqrestore(flags);
|
|
}
|
|
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: can_ioctl
|
|
*
|
|
* Description:
|
|
* All ioctl calls will be routed through this method
|
|
*
|
|
* Input Parameters:
|
|
* dev - An instance of the "upper half" can driver state structure.
|
|
*
|
|
* Returned Value:
|
|
* Zero on success; a negated errno on failure
|
|
*
|
|
****************************************************************************/
|
|
|
|
static int can_ioctl(FAR struct can_dev_s *dev, int cmd, unsigned long arg)
|
|
{
|
|
dbg("Fix me:Not Implemented\n");
|
|
return 0;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: can_remoterequest
|
|
*
|
|
* Description:
|
|
* Send a remote request
|
|
*
|
|
* Input Parameters:
|
|
* dev - An instance of the "upper half" can driver state structure.
|
|
*
|
|
* Returned Value:
|
|
* Zero on success; a negated errno on failure
|
|
*
|
|
****************************************************************************/
|
|
|
|
static int can_remoterequest(FAR struct can_dev_s *dev, uint16_t id)
|
|
{
|
|
dbg("Fix me:Not Implemented\n");
|
|
return 0;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: can_send
|
|
*
|
|
* Description:
|
|
* Send one can message.
|
|
*
|
|
* One CAN-message consists of a maximum of 10 bytes. A message is
|
|
* composed of at least the first 2 bytes (when there are no data bytes).
|
|
*
|
|
* Byte 0: Bits 0-7: Bits 3-10 of the 11-bit CAN identifier
|
|
* Byte 1: Bits 5-7: Bits 0-2 of the 11-bit CAN identifier
|
|
* Bit 4: Remote Tranmission Request (RTR)
|
|
* Bits 0-3: Data Length Code (DLC)
|
|
* Bytes 2-10: CAN data
|
|
*
|
|
* Input Parameters:
|
|
* dev - An instance of the "upper half" can driver state structure.
|
|
*
|
|
* Returned Value:
|
|
* Zero on success; a negated errno on failure
|
|
*
|
|
****************************************************************************/
|
|
|
|
static int can_send(FAR struct can_dev_s *dev, FAR struct can_msg_s *msg)
|
|
{
|
|
FAR struct up_dev_s *priv = (FAR struct up_dev_s *)dev->cd_priv;
|
|
uint32_t tid = CAN_ID(msg->cm_hdr);
|
|
uint32_t tfi = CAN_DLC(msg->cm_hdr) << 16;
|
|
uint32_t regval;
|
|
irqstate_t flags;
|
|
int ret = OK;
|
|
|
|
canvdbg("CAN%d ID: %d DLC: %d\n",
|
|
priv->port, CAN_ID(msg->cm_hdr), CAN_DLC(msg->cm_hdr));
|
|
|
|
if (CAN_RTR(msg->cm_hdr))
|
|
{
|
|
tfi |= CAN_TFI_RTR;
|
|
}
|
|
|
|
flags = irqsave();
|
|
|
|
/* Pick a transmit buffer */
|
|
|
|
regval = can_getreg(priv, LPC17_CAN_SR_OFFSET);
|
|
if ((regval & CAN_SR_TBS1) != 0)
|
|
{
|
|
/* Set up the transfer */
|
|
|
|
can_putreg(priv, LPC17_CAN_TFI1_OFFSET, tfi);
|
|
can_putreg(priv, LPC17_CAN_TID1_OFFSET, tid);
|
|
can_putreg(priv, LPC17_CAN_TDA1_OFFSET, *(uint32_t *)&msg->cm_data[0]);
|
|
can_putreg(priv, LPC17_CAN_TDB1_OFFSET, *(uint32_t *)&msg->cm_data[4]);
|
|
|
|
/* Send the message */
|
|
|
|
#ifdef CONFIG_CAN_LOOPBACK
|
|
can_putreg(priv, LPC17_CAN_CMR_OFFSET, CAN_CMR_STB1 | CAN_CMR_SRR);
|
|
#else
|
|
can_putreg(priv, LPC17_CAN_CMR_OFFSET, CAN_CMR_STB1 | CAN_CMR_TR);
|
|
#endif
|
|
|
|
/* Tell the caller that the transfer is done. It isn't, but we have
|
|
* more transmit buffers and this can speed things up.
|
|
*/
|
|
|
|
can_txdone(dev);
|
|
}
|
|
else if ((regval & CAN_SR_TBS2) != 0)
|
|
{
|
|
/* Set up the transfer */
|
|
|
|
can_putreg(priv, LPC17_CAN_TFI2_OFFSET, tfi);
|
|
can_putreg(priv, LPC17_CAN_TID2_OFFSET, tid);
|
|
can_putreg(priv, LPC17_CAN_TDA2_OFFSET, *(uint32_t *)&msg->cm_data[0]);
|
|
can_putreg(priv, LPC17_CAN_TDB2_OFFSET, *(uint32_t *)&msg->cm_data[4]);
|
|
|
|
/* Send the message */
|
|
|
|
#ifdef CONFIG_CAN_LOOPBACK
|
|
can_putreg(priv, LPC17_CAN_CMR_OFFSET, CAN_CMR_STB2 | CAN_CMR_SRR);
|
|
#else
|
|
can_putreg(priv, LPC17_CAN_CMR_OFFSET, CAN_CMR_STB2 | CAN_CMR_TR);
|
|
#endif
|
|
|
|
/* Tell the caller that the transfer is done. It isn't, but we have
|
|
* more transmit buffers and this can speed things up.
|
|
*/
|
|
|
|
can_txdone(dev);
|
|
}
|
|
else if ((regval & CAN_SR_TBS3) != 0)
|
|
{
|
|
/* We have no more buffers. We will make the caller wait. First, make
|
|
* sure that all buffer 3 interrupts are enabled BEFORE sending the
|
|
* message. The TX interrupt is generated TBSn bit in CANxSR goes from 0
|
|
* to 1 when the TIEn bit in CANxIER is 1. If we don't enable it now,
|
|
* we will miss the TIE3 interrupt. We enable ALL TIE interrupts here
|
|
* because we don't care which one finishes: When first one finishes it
|
|
* means that a transmit buffer is again available.
|
|
*
|
|
* NOTE: The IER is also modified from the interrupt handler, but the
|
|
* following is safe because interrupts are disabled here.
|
|
*/
|
|
|
|
regval = can_getreg(priv, LPC17_CAN_IER_OFFSET);
|
|
regval |= (CAN_IER_TIE1 | CAN_IER_TIE2 | CAN_IER_TIE3);
|
|
can_putreg(priv, LPC17_CAN_IER_OFFSET, regval);
|
|
|
|
/* Set up the transfer */
|
|
|
|
can_putreg(priv, LPC17_CAN_TFI3_OFFSET, tfi);
|
|
can_putreg(priv, LPC17_CAN_TID3_OFFSET, tid);
|
|
can_putreg(priv, LPC17_CAN_TDA3_OFFSET, *(uint32_t *)&msg->cm_data[0]);
|
|
can_putreg(priv, LPC17_CAN_TDB3_OFFSET, *(uint32_t *)&msg->cm_data[4]);
|
|
|
|
/* Send the message */
|
|
|
|
#ifdef CONFIG_CAN_LOOPBACK
|
|
can_putreg(priv, LPC17_CAN_CMR_OFFSET, CAN_CMR_STB3 | CAN_CMR_SRR);
|
|
#else
|
|
can_putreg(priv, LPC17_CAN_CMR_OFFSET, CAN_CMR_STB3 | CAN_CMR_TR);
|
|
#endif
|
|
}
|
|
else
|
|
{
|
|
candbg("No available transmission buffer, SR: %08x\n", regval);
|
|
ret = -EBUSY;
|
|
}
|
|
|
|
irqrestore(flags);
|
|
return ret;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: can_txempty
|
|
*
|
|
* Description:
|
|
* Return true if all message have been sent. If for example, the CAN
|
|
* hardware implements FIFOs, then this would mean the transmit FIFO is
|
|
* empty. This method is called when the driver needs to make sure that
|
|
* all characters are "drained" from the TX hardware before calling
|
|
* co_shutdown().
|
|
*
|
|
* Input Parameters:
|
|
* dev - An instance of the "upper half" can driver state structure.
|
|
*
|
|
* Returned Value:
|
|
* Zero on success; a negated errno on failure
|
|
*
|
|
****************************************************************************/
|
|
|
|
static bool can_txempty(FAR struct can_dev_s *dev)
|
|
{
|
|
FAR struct up_dev_s *priv = (FAR struct up_dev_s *)dev->cd_priv;
|
|
uint32_t regval = can_getreg(priv, LPC17_CAN_GSR_OFFSET);
|
|
return ((regval & CAN_GSR_TBS) != 0);
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: can_interrupt
|
|
*
|
|
* Description:
|
|
* CAN1/2 RX/TX interrupt handler
|
|
*
|
|
* Input Parameters:
|
|
* dev - An instance of the "upper half" can driver state structure.
|
|
*
|
|
* Returned Value:
|
|
* Zero on success; a negated errno on failure
|
|
*
|
|
****************************************************************************/
|
|
|
|
static void can_interrupt(FAR struct can_dev_s *dev)
|
|
{
|
|
FAR struct up_dev_s *priv = (FAR struct up_dev_s *)dev->cd_priv;
|
|
uint32_t data[2];
|
|
uint32_t rfs;
|
|
uint32_t rid;
|
|
uint32_t regval;
|
|
uint16_t hdr;
|
|
uint16_t id;
|
|
uint16_t dlc;
|
|
uint16_t rtr;
|
|
|
|
/* Read the interrupt and capture register (also clearing most status bits) */
|
|
|
|
regval = can_getreg(priv, LPC17_CAN_ICR_OFFSET);
|
|
canllvdbg("CAN%d ICR: %08x\n", priv->port, regval);
|
|
|
|
/* Check for a receive interrupt */
|
|
|
|
if ((regval & CAN_ICR_RI) != 0)
|
|
{
|
|
rfs = can_getreg(priv, LPC17_CAN_RFS_OFFSET);
|
|
rid = can_getreg(priv, LPC17_CAN_RID_OFFSET);
|
|
data[0] = can_getreg(priv, LPC17_CAN_RDA_OFFSET);
|
|
data[1] = can_getreg(priv, LPC17_CAN_RDB_OFFSET);
|
|
|
|
/* Release the receive buffer */
|
|
|
|
can_putreg(priv, LPC17_CAN_CMR_OFFSET, CAN_CMR_RRB);
|
|
|
|
/* Construct the CAN header */
|
|
|
|
id = rid & CAN_RID_ID11_MASK;
|
|
dlc = (rfs & CAN_RFS_DLC_MASK) >> CAN_RFS_DLC_SHIFT;
|
|
rtr = ((rfs & CAN_RFS_RTR) != 0);
|
|
hdr = CAN_HDR(id, rtr, dlc);
|
|
|
|
/* Process the received CAN packet */
|
|
|
|
can_receive(dev, hdr, (uint8_t *)data);
|
|
}
|
|
|
|
/* Check for a transmit interrupt from buffer 1, 2, or 3 meaning that at
|
|
* least one TX is complete and that at least one TX buffer is available.
|
|
*/
|
|
|
|
if ((regval & (CAN_ICR_TI1 | CAN_ICR_TI2 |CAN_ICR_TI3)) != 0)
|
|
{
|
|
/* Disable all further TX interrupts */
|
|
|
|
regval = can_getreg(priv, LPC17_CAN_IER_OFFSET);
|
|
regval &= ~(CAN_IER_TIE1 | CAN_IER_TIE2 | CAN_IER_TIE3);
|
|
can_putreg(priv, LPC17_CAN_IER_OFFSET, regval);
|
|
|
|
/* Indicate that the TX is done and a new TX buffer is available */
|
|
|
|
can_txdone(&g_can1dev);
|
|
}
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: can12_interrupt
|
|
*
|
|
* Description:
|
|
* CAN interrupt handler. There is a single interrupt for both CAN1 and
|
|
* CAN2.
|
|
*
|
|
* Input Parameters:
|
|
* irq - The IRQ number of the interrupt.
|
|
* context - The register state save array at the time of the interrupt.
|
|
*
|
|
* Returned Value:
|
|
* Zero on success; a negated errno on failure
|
|
*
|
|
****************************************************************************/
|
|
|
|
static int can12_interrupt(int irq, void *context)
|
|
{
|
|
/* Handle CAN1/2 interrupts */
|
|
|
|
canllvdbg("irq: %d\n", irq);
|
|
|
|
#ifdef CONFIG_LPC17_CAN1
|
|
can_interrupt(&g_can1dev);
|
|
#endif
|
|
#ifdef CONFIG_LPC17_CAN2
|
|
can_interrupt(&g_can2dev);
|
|
#endif
|
|
|
|
return OK;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Public Functions
|
|
****************************************************************************/
|
|
/****************************************************************************
|
|
* Name: lpc17_caninitialize
|
|
*
|
|
* Description:
|
|
* Initialize the selected can port
|
|
*
|
|
* Input Parameter:
|
|
* Port number (for hardware that has mutiple can interfaces)
|
|
*
|
|
* Returned Value:
|
|
* Valid can device structure reference on succcess; a NULL on failure
|
|
*
|
|
****************************************************************************/
|
|
|
|
FAR struct can_dev_s *lpc17_caninitialize(int port)
|
|
{
|
|
FAR struct can_dev_s *candev;
|
|
irqstate_t flags;
|
|
uint32_t regval;
|
|
|
|
canllvdbg("CAN%d\n", port);
|
|
|
|
flags = irqsave();
|
|
|
|
#ifdef CONFIG_LPC17_CAN1
|
|
if (port == 1)
|
|
{
|
|
/* Enable power to the CAN module */
|
|
|
|
regval = can_getcommon(LPC17_SYSCON_PCONP);
|
|
regval |= SYSCON_PCONP_PCCAN1;
|
|
can_putcommon(LPC17_SYSCON_PCONP, regval);
|
|
|
|
/* Enable clocking to the CAN module (not necessary... already done
|
|
* in low level clock configuration logic.
|
|
*/
|
|
|
|
regval = can_getcommon(LPC17_SYSCON_PCLKSEL0);
|
|
regval &= ~SYSCON_PCLKSEL0_CAN1_MASK;
|
|
regval |= (SYSCON_PCLKSEL_CCLK4 << SYSCON_PCLKSEL0_CAN1_SHIFT);
|
|
can_putcommon(LPC17_SYSCON_PCLKSEL0, regval);
|
|
|
|
/* Configure CAN GPIO pins */
|
|
|
|
lpc17_configgpio(GPIO_CAN1_RD);
|
|
lpc17_configgpio(GPIO_CAN1_TD);
|
|
|
|
candev = &g_can1dev;
|
|
}
|
|
else
|
|
#endif
|
|
#ifdef CONFIG_LPC17_CAN2
|
|
if (port == 2)
|
|
{
|
|
/* Enable power to the CAN module */
|
|
|
|
regval = can_getcommon(LPC17_SYSCON_PCONP);
|
|
regval |= SYSCON_PCONP_PCCAN2;
|
|
can_putcommon(LPC17_SYSCON_PCONP, regval);
|
|
|
|
/* Enable clocking to the CAN module (not necessary... already done
|
|
* in low level clock configuration logic.
|
|
*/
|
|
|
|
regval = can_getcommon(LPC17_SYSCON_PCLKSEL0);
|
|
regval &= ~SYSCON_PCLKSEL0_CAN2_MASK;
|
|
regval |= (SYSCON_PCLKSEL_CCLK4 << SYSCON_PCLKSEL0_CAN2_SHIFT);
|
|
can_putcommon(LPC17_SYSCON_PCLKSEL0, regval);
|
|
|
|
/* Configure CAN GPIO pins */
|
|
|
|
lpc17_configgpio(GPIO_CAN2_RD);
|
|
lpc17_configgpio(GPIO_CAN2_TD);
|
|
|
|
candev = &g_can2dev;
|
|
}
|
|
else
|
|
#endif
|
|
{
|
|
candbg("Unsupported port: %d\n", port);
|
|
irqrestore(flags);
|
|
return NULL;
|
|
}
|
|
|
|
/* Then just perform a CAN reset operation */
|
|
|
|
can_reset(candev);
|
|
irqrestore(flags);
|
|
return candev;
|
|
}
|
|
#endif
|
|
|