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path: root/drivers/fsl_flexcan.c
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Diffstat (limited to 'drivers/fsl_flexcan.c')
-rw-r--r--drivers/fsl_flexcan.c108
1 files changed, 71 insertions, 37 deletions
diff --git a/drivers/fsl_flexcan.c b/drivers/fsl_flexcan.c
index 09add9e..2a07dc5 100644
--- a/drivers/fsl_flexcan.c
+++ b/drivers/fsl_flexcan.c
@@ -88,24 +88,6 @@ typedef void (*flexcan_isr_t)(CAN_Type *base, flexcan_handle_t *handle);
*/
uint32_t FLEXCAN_GetInstance(CAN_Type *base);
-/*!
- * @brief Enter FlexCAN Freeze Mode.
- *
- * This function makes the FlexCAN work under Freeze Mode.
- *
- * @param base FlexCAN peripheral base address.
- */
-static void FLEXCAN_EnterFreezeMode(CAN_Type *base);
-
-/*!
- * @brief Exit FlexCAN Freeze Mode.
- *
- * This function makes the FlexCAN leave Freeze Mode.
- *
- * @param base FlexCAN peripheral base address.
- */
-static void FLEXCAN_ExitFreezeMode(CAN_Type *base);
-
#if !defined(NDEBUG)
/*!
* @brief Check if Message Buffer is occupied by Rx FIFO.
@@ -117,7 +99,7 @@ static void FLEXCAN_ExitFreezeMode(CAN_Type *base);
*/
static bool FLEXCAN_IsMbOccupied(CAN_Type *base, uint8_t mbIdx);
#endif
-
+#if 0
#if (defined(FSL_FEATURE_FLEXCAN_HAS_ERRATA_5641) && FSL_FEATURE_FLEXCAN_HAS_ERRATA_5641)
/*!
* @brief Get the first valid Message buffer ID of give FlexCAN instance.
@@ -129,7 +111,7 @@ static bool FLEXCAN_IsMbOccupied(CAN_Type *base, uint8_t mbIdx);
*/
static uint32_t FLEXCAN_GetFirstValidMb(CAN_Type *base);
#endif
-
+#endif
/*!
* @brief Check if Message Buffer interrupt is enabled.
*
@@ -214,7 +196,7 @@ uint32_t FLEXCAN_GetInstance(CAN_Type *base)
return instance;
}
-static void FLEXCAN_EnterFreezeMode(CAN_Type *base)
+void FLEXCAN_EnterFreezeMode(CAN_Type *base)
{
/* Set Freeze, Halt bits. */
base->MCR |= CAN_MCR_HALT_MASK;
@@ -225,7 +207,7 @@ static void FLEXCAN_EnterFreezeMode(CAN_Type *base)
}
}
-static void FLEXCAN_ExitFreezeMode(CAN_Type *base)
+void FLEXCAN_ExitFreezeMode(CAN_Type *base)
{
/* Clear Freeze, Halt bits. */
base->MCR &= ~CAN_MCR_HALT_MASK;
@@ -279,7 +261,7 @@ static bool FLEXCAN_IsMbOccupied(CAN_Type *base, uint8_t mbIdx)
}
}
#endif
-
+#if 0
#if (defined(FSL_FEATURE_FLEXCAN_HAS_ERRATA_5641) && FSL_FEATURE_FLEXCAN_HAS_ERRATA_5641)
static uint32_t FLEXCAN_GetFirstValidMb(CAN_Type *base)
{
@@ -298,6 +280,7 @@ static uint32_t FLEXCAN_GetFirstValidMb(CAN_Type *base)
return firstValidMbNum;
}
#endif
+#endif
static bool FLEXCAN_IsMbIntEnabled(CAN_Type *base, uint8_t mbIdx)
{
@@ -487,6 +470,9 @@ void FLEXCAN_Init(CAN_Type *base, const flexcan_config_t *config, uint32_t sourc
mcrTemp = (config->enableDoze) ? mcrTemp | CAN_MCR_DOZE_MASK : mcrTemp & ~CAN_MCR_DOZE_MASK;
#endif
+ mcrTemp |= CAN_MCR_HALT_MASK;
+ mcrTemp |= CAN_MCR_FRZ_MASK;
+
/* Save MCR Configuation. */
base->MCR = mcrTemp;
@@ -539,6 +525,10 @@ void FLEXCAN_SetTimingConfig(CAN_Type *base, const flexcan_timing_config_t *conf
{
/* Assertion. */
assert(config);
+ int keep_frozen = 0;
+
+ if (base->MCR & CAN_MCR_FRZACK_MASK)
+ keep_frozen = 1;
/* Enter Freeze Mode. */
FLEXCAN_EnterFreezeMode(base);
@@ -553,24 +543,65 @@ void FLEXCAN_SetTimingConfig(CAN_Type *base, const flexcan_timing_config_t *conf
CAN_CTRL1_PSEG1(config->phaseSeg1) | CAN_CTRL1_PSEG2(config->phaseSeg2) | CAN_CTRL1_PROPSEG(config->propSeg));
/* Exit Freeze Mode. */
- FLEXCAN_ExitFreezeMode(base);
+ if (!keep_frozen)
+ FLEXCAN_ExitFreezeMode(base);
}
void FLEXCAN_SetBitRate(CAN_Type *base, uint32_t sourceClock_Hz, uint32_t baudRate_Bps)
{
+ int keep_frozen = 0;
+
+ if (base->MCR & CAN_MCR_FRZACK_MASK)
+ keep_frozen = 1;
+
/* Enter Freeze Mode. */
FLEXCAN_EnterFreezeMode(base);
FLEXCAN_SetBaudRate(base, sourceClock_Hz, baudRate_Bps);
/* Exit Freeze Mode. */
- FLEXCAN_ExitFreezeMode(base);
+ if (!keep_frozen)
+ FLEXCAN_ExitFreezeMode(base);
+}
+
+void FLEXCAN_SetMode(CAN_Type *base, uint32_t mode)
+{
+ int keep_frozen = 0;
+
+ if (base->MCR & CAN_MCR_FRZACK_MASK)
+ keep_frozen = 1;
+ /* Enter Freeze Mode. */
+ FLEXCAN_EnterFreezeMode(base);
+ switch (mode){
+ case CAN_CTRLMODE_3_SAMPLES:
+ base->CTRL1 &= ~CAN_CTRL1_LPB_MASK;
+ base->CTRL1 &= ~CAN_CTRL1_LOM_MASK;
+ base->CTRL1 |= CAN_CTRL1_SMP_MASK;
+ break;
+ case CAN_CTRLMODE_LISTENONLY:
+ base->CTRL1 &= ~CAN_CTRL1_LPB_MASK;
+ base->CTRL1 &= ~CAN_CTRL1_SMP_MASK;
+ base->CTRL1 |= CAN_CTRL1_LOM_MASK;
+ break;
+ case CAN_CTRLMODE_LOOPBACK:
+ base->CTRL1 &= ~CAN_CTRL1_SMP_MASK;
+ base->CTRL1 &= ~CAN_CTRL1_LOM_MASK;
+ base->CTRL1 |= CAN_CTRL1_LPB_MASK;
+ break;
+ case CAN_CTRLMODE_NORMAL:
+ base->CTRL1 &= ~CAN_CTRL1_LPB_MASK;
+ base->CTRL1 &= ~CAN_CTRL1_LOM_MASK;
+ base->CTRL1 &= ~CAN_CTRL1_SMP_MASK;
+ }
+ /* Exit Freeze Mode. */
+ if (!keep_frozen)
+ FLEXCAN_ExitFreezeMode(base);
}
void FLEXCAN_SetRxMbGlobalMask(CAN_Type *base, uint32_t mask)
{
/* Enter Freeze Mode. */
- FLEXCAN_EnterFreezeMode(base);
+ //FLEXCAN_EnterFreezeMode(base);
/* Setting Rx Message Buffer Global Mask value. */
base->RXMGMASK = mask;
@@ -578,19 +609,19 @@ void FLEXCAN_SetRxMbGlobalMask(CAN_Type *base, uint32_t mask)
base->RX15MASK = mask;
/* Exit Freeze Mode. */
- FLEXCAN_ExitFreezeMode(base);
+ //FLEXCAN_ExitFreezeMode(base);
}
void FLEXCAN_SetRxFifoGlobalMask(CAN_Type *base, uint32_t mask)
{
/* Enter Freeze Mode. */
- FLEXCAN_EnterFreezeMode(base);
+ //FLEXCAN_EnterFreezeMode(base);
/* Setting Rx FIFO Global Mask value. */
base->RXFGMASK = mask;
/* Exit Freeze Mode. */
- FLEXCAN_ExitFreezeMode(base);
+ //FLEXCAN_ExitFreezeMode(base);
}
void FLEXCAN_SetRxIndividualMask(CAN_Type *base, uint8_t maskIdx, uint32_t mask)
@@ -678,7 +709,7 @@ void FLEXCAN_SetRxFifoConfig(CAN_Type *base, const flexcan_rx_fifo_config_t *con
uint8_t setup_mb, i, rffn = 0;
/* Enter Freeze Mode. */
- FLEXCAN_EnterFreezeMode(base);
+ //FLEXCAN_EnterFreezeMode(base);
if (enable)
{
@@ -771,7 +802,7 @@ void FLEXCAN_SetRxFifoConfig(CAN_Type *base, const flexcan_rx_fifo_config_t *con
}
base->MCR |= CAN_MCR_SRXDIS_MASK;
/* Exit Freeze Mode. */
- FLEXCAN_ExitFreezeMode(base);
+ //FLEXCAN_ExitFreezeMode(base);
}
#if (defined(FSL_FEATURE_FLEXCAN_HAS_RX_FIFO_DMA) && FSL_FEATURE_FLEXCAN_HAS_RX_FIFO_DMA)
@@ -843,8 +874,8 @@ status_t FLEXCAN_WriteTxMb(CAN_Type *base, uint8_t mbIdx, const flexcan_frame_t
base->MB[mbIdx].CS = cs_temp;
#if (defined(FSL_FEATURE_FLEXCAN_HAS_ERRATA_5641) && FSL_FEATURE_FLEXCAN_HAS_ERRATA_5641)
- base->MB[FLEXCAN_GetFirstValidMb(base)].CS = CAN_CS_CODE(kFLEXCAN_TxMbInactive);
- base->MB[FLEXCAN_GetFirstValidMb(base)].CS = CAN_CS_CODE(kFLEXCAN_TxMbInactive);
+ base->MB[8].CS = CAN_CS_CODE(kFLEXCAN_TxMbInactive);
+ base->MB[8].CS = CAN_CS_CODE(kFLEXCAN_TxMbInactive);
#endif
return kStatus_Success;
@@ -1162,7 +1193,7 @@ void FLEXCAN_TransferAbortSend(CAN_Type *base, flexcan_handle_t *handle, uint8_t
assert(!FLEXCAN_IsMbOccupied(base, mbIdx));
/* Disable Message Buffer Interrupt. */
- FLEXCAN_DisableMbInterrupts(base, 1 << mbIdx);
+ //FLEXCAN_DisableMbInterrupts(base, 1 << mbIdx);
/* Un-register handle. */
handle->mbFrameBuf[mbIdx] = 0x0;
@@ -1214,6 +1245,7 @@ void FLEXCAN_TransferHandleIRQ(CAN_Type *base, flexcan_handle_t *handle)
status_t status = kStatus_FLEXCAN_UnHandled;
uint32_t result;
+ BaseType_t reschedule = pdFALSE;
/* Store Current FlexCAN Module Error and Status. */
result = base->ESR1;
@@ -1234,7 +1266,7 @@ void FLEXCAN_TransferHandleIRQ(CAN_Type *base, flexcan_handle_t *handle)
else
{
/* For this implementation, we solve the Message with lowest MB index first. */
- for (result = 0; result < FSL_FEATURE_FLEXCAN_HAS_MESSAGE_BUFFER_MAX_NUMBERn(base); result++)
+ for (result = 0; result < 10/* FSL_FEATURE_FLEXCAN_HAS_MESSAGE_BUFFER_MAX_NUMBERn(base) */; result++)
{
/* Get the lowest unhandled Message Buffer */
if ((FLEXCAN_GetMbStatusFlags(base, 1 << result)) && (FLEXCAN_IsMbIntEnabled(base, result)))
@@ -1244,7 +1276,7 @@ void FLEXCAN_TransferHandleIRQ(CAN_Type *base, flexcan_handle_t *handle)
}
/* Does not find Message to deal with. */
- if (result == FSL_FEATURE_FLEXCAN_HAS_MESSAGE_BUFFER_MAX_NUMBERn(base))
+ if (result == 10)
{
break;
}
@@ -1323,7 +1355,8 @@ void FLEXCAN_TransferHandleIRQ(CAN_Type *base, flexcan_handle_t *handle)
/* Calling Callback Function if has one. */
if (handle->callback != NULL)
{
- handle->callback(base, handle, status, result, handle->userData);
+ if (handle->callback(base, handle, status, result, handle->userData) == pdTRUE)
+ reschedule = pdTRUE;
}
/* Reset return status */
@@ -1341,6 +1374,7 @@ void FLEXCAN_TransferHandleIRQ(CAN_Type *base, flexcan_handle_t *handle)
(0 != (result & (kFLEXCAN_TxWarningIntFlag | kFLEXCAN_RxWarningIntFlag | kFLEXCAN_BusOffIntFlag |
kFLEXCAN_ErrorIntFlag | kFLEXCAN_WakeUpIntFlag))));
#endif
+ portYIELD_FROM_ISR(reschedule);
}
#if defined(CAN0)
generated by cgit v1.2.3 (git 2.0.4) at 2024-05-02 23:23:11 +0000