diff options
Diffstat (limited to 'os/hal/platforms/AT91SAM7/can_lld.c')
| -rw-r--r-- | os/hal/platforms/AT91SAM7/can_lld.c | 640 |
1 files changed, 0 insertions, 640 deletions
diff --git a/os/hal/platforms/AT91SAM7/can_lld.c b/os/hal/platforms/AT91SAM7/can_lld.c deleted file mode 100644 index 38cc6c166..000000000 --- a/os/hal/platforms/AT91SAM7/can_lld.c +++ /dev/null @@ -1,640 +0,0 @@ -/*
- ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,2011 Giovanni Di Sirio.
- 2012,2013 Martin Schüßler and Florian Sehl, Embedded Software Laboratory,
- RWTH Aachen University
-
- This file is part of ChibiOS/RT.
-
- ChibiOS/RT is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 3 of the License, or
- (at your option) any later version.
-
- ChibiOS/RT is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program. If not, see <http://www.gnu.org/licenses/>.
-
- ---
-
- A special exception to the GPL can be applied should you wish to distribute
- a combined work that includes ChibiOS/RT, without being obliged to provide
- the source code for any proprietary components. See the file exception.txt
- for full details of how and when the exception can be applied.
- */
-
-/**
- * @file AT91SAM7/can_lld.c
- * @brief AT91SAM7 CAN Driver subsystem low level driver source.
- *
- * @pre - Make sure that the Mailbox you are receiving from is holding your
- * data.
- * - If you have more than one use the rxfull_event provided by the
- * Driver.
- * - In order to use the Events APIs the CH_USE_EVENTS option must
- * be enabled in chconf.h.
- * - In order to use the CAN driver the HAL_USE_CAN option must be
- * enabled in halconf.h.
- * - Mailbox0 is used as a Transmitmailbox.
- * - Mailboxes 1-7 are used as receive Mailboxes.
- *
- * @addtogroup CAN
- * @{
- */
-
-#include "ch.h"
-#include "hal.h"
-
-#if HAL_USE_CAN || defined(__DOXYGEN__)
-
-/*===========================================================================*/
-/* Driver exported variables. */
-/*===========================================================================*/
-
-/**
- * @brief CAN driver identifier.
- */
-#if AT91SAM7_CAN_USE_CAN || defined(__DOXYGEN__)
-CANDriver CAND;
-#endif
-
-/*===========================================================================*/
-/* Driver local variables. */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver local functions. */
-/*===========================================================================*/
-
-/*===========================================================================*/
-/* Driver interrupt handlers. */
-/*===========================================================================*/
-
-/**
- * @brief CAN[0] interrupt handler.
- *
- * @isr
- */
-CH_IRQ_HANDLER(CANIrqHandler) {
-
- CH_IRQ_PROLOGUE();
- can_lld_serve_interrupt(&CAND);
- AT91C_BASE_AIC->AIC_EOICR = 0;
- CH_IRQ_EPILOGUE();
-}
-
-
-#if defined(__GNUC__)
-__attribute__((noinline))
-#endif
-/**
- * @brief Handles CAN interrupts.
- *
- * @param[in] pointer to the driver that received the interrupt
- */
-
-
-void can_lld_serve_interrupt(CANDriver *canp) {
-
- canstatus_t status;
- chSysLockFromIsr();
-
- status = canp->base->CAN_SR & canp->base->CAN_IMR;
-
- /* if AT91C_CAN_WAKEUP is set, the can test was successful
- * such that the CAN is now able to Transmit and Receive Data.
- */
- if ((status & AT91C_CAN_WAKEUP) == AT91C_CAN_WAKEUP) {
- canp->base->CAN_IDR = AT91C_CAN_WAKEUP;
- canp->testok = AT91C_TEST_OK;
- }
-
- else {
- /* check the mailboxes (MB0-MB7) and broadcast the corresponding event.*/
-
- /* configure send mailbox, mailbox 0 */
- #if CAN_USE_MB0
- if(status & AT91C_CAN_MB0 && canp->mb[CAN_TxMB0-1]->CAN_MB_MSR & AT91C_CAN_MRDY) {
- canp->base->CAN_IDR = AT91C_CAN_MB0;
- chSemSignalI(&(canp->txsem));
-
- }
- #else
- #warning You need to acivate Mailbox0 to transmit.
- #endif
-
- #if CAN_USE_MB1
- if (status & AT91C_CAN_MB1 &&
- canp->mb[CAN_RxMB1-1]->CAN_MB_MSR & AT91C_CAN_MRDY) {
- chSemSignalI(&(canp->rxsem));
- chEvtBroadcastFlagsI(&(canp->rxfull_event), EVENT_MASK (CAN_RxMB1-1));
- canp->base->CAN_IDR = AT91C_CAN_MB1;
- }
- #endif
-
- #if CAN_USE_MB2
- if (status & AT91C_CAN_MB2 &&
- canp->mb[CAN_RxMB2-1]->CAN_MB_MSR & AT91C_CAN_MRDY) {
- chSemSignalI(&(canp->rxsem));
- chEvtBroadcastFlagsI(&(canp->rxfull_event), EVENT_MASK (CAN_RxMB2-1));
- canp->base->CAN_IDR = AT91C_CAN_MB2;
- }
- #endif
-
- #if CAN_USE_MB3
- if (status & AT91C_CAN_MB3 &&
- canp->mb[CAN_RxMB3-1]->CAN_MB_MSR & AT91C_CAN_MRDY) {
- chSemSignalI(&(canp->rxsem));
- chEvtBroadcastFlagsI(&(canp->rxfull_event), EVENT_MASK (CAN_RxMB3-1));
- canp->base->CAN_IDR = AT91C_CAN_MB3;
- }
- #endif
-
- #if CAN_USE_MB4
- if (status & AT91C_CAN_MB4 && c
- anp->mb[CAN_RxMB4-1]->CAN_MB_MSR & AT91C_CAN_MRDY) {
- chSemSignalI(&(canp->rxsem));
- chEvtBroadcastFlagsI(&(canp->rxfull_event), EVENT_MASK (CAN_RxMB4-1));
- canp->base->CAN_IDR = AT91C_CAN_MB4;
- }
- #endif
-
- #if CAN_USE_MB5
- if (status & AT91C_CAN_MB5 &&
- canp->mb[CAN_RxMB5-1]->CAN_MB_MSR & AT91C_CAN_MRDY) {
- chSemSignalI(&(canp->rxsem));
- chEvtBroadcastFlagsI(&(canp->rxfull_event), EVENT_MASK (CAN_RxMB5-1));
- canp->base->CAN_IDR = AT91C_CAN_MB5;
- }
- #endif
-
- #if CAN_USE_MB6
- if (status & AT91C_CAN_MB6 &&
- canp->mb[CAN_RxMB6-1]->CAN_MB_MSR & AT91C_CAN_MRDY) {
- chSemSignalI(&(canp->rxsem));
- chEvtBroadcastFlagsI(&(canp->rxfull_event, EVENT_MASK (CAN_RxMB6-1));
- canp->base->CAN_IDR = AT91C_CAN_MB6;
- }
- #endif
-
- #if CAN_USE_MB7
- if (status & AT91C_CAN_MB7 &&
- canp->mb[CAN_RxMB7-1]->CAN_MB_MSR & AT91C_CAN_MRDY) {
- chSemSignalI(&(canp->rxsem));
- chEvtBroadcastFlagsI(&(canp->rxfull_event), EVENT_MASK (CAN_RxMB7-1));
- canp->base->CAN_IDR = AT91C_CAN_MB7;
- }
- #endif
- }
-
- /*check if error event is detected*/
- if ((status & 0xFFCF0000) != 0) {
- /*The content of the SR register is copied unchanged in the upper
- half word of the listener flags mask*/
- chEvtBroadcastFlagsI(&(canp->error_event), (eventmask_t)(status&0xFFFF0000));
- }
-
- chSysUnlockFromIsr();
-}
-
-/*===========================================================================*/
-/* Driver exported functions. */
-/*===========================================================================*/
-
-/**
- * @brief Low level CAN driver initialization.
- *
- * @notapi
- */
-void can_lld_init(void) {
- /* Driver initialization.*/
- canObjectInit(&CAND);
-
- /*
- * mailbox vector initialization
- */
-#if CAN_USE_MB0
- CAND.mb[CAN_TxMB0-1] = AT91C_BASE_CAN_MB0;
-#endif
-#if CAN_USE_MB1
- CAND.mb[CAN_RxMB1-1] = AT91C_BASE_CAN_MB1;
-#endif
-#if CAN_USE_MB2
- CAND.mb[CAN_RxMB2-1] = AT91C_BASE_CAN_MB2;
-#endif
-#if CAN_USE_MB3
- CAND.mb[CAN_RxMB3-1] = AT91C_BASE_CAN_MB3;
-#endif
-#if CAN_USE_MB4
- CAND.mb[CAN_RxMB4-1] = AT91C_BASE_CAN_MB4;
-#endif
-#if CAN_USE_MB5
- CAND.mb[CAN_RxMB5-1] = AT91C_BASE_CAN_MB5;
-#endif
-#if CAN_USE_MB6
- CAND.mb[CAN_RxMB6-1] = AT91C_BASE_CAN_MB6;
-#endif
-#if CAN_USE_MB7
- CAND.mb[CAN_RxMB7-1] = AT91C_BASE_CAN_MB7;
-#endif
-
- /*
- * PIO
- */
- /* Disable interrupts on the pin(s)*/
- AT91C_BASE_PIOA->PIO_IDR = AT91C_PA19_CANRX;
- AT91C_BASE_PIOA->PIO_IDR = AT91C_PA20_CANTX;
- /* Select peripheral function A*/
- AT91C_BASE_PIOA->PIO_ASR = AT91C_PA19_CANRX;
- AT91C_BASE_PIOA->PIO_ASR = AT91C_PA20_CANTX;
- /* Disables the PIO from controlling the corresponding pin
- * (enables peripheral control of the pin)
- */
- AT91C_BASE_PIOA->PIO_PDR = AT91C_PA19_CANRX;
- AT91C_BASE_PIOA->PIO_PDR = AT91C_PA20_CANTX;
- /* Disable pull up */
- AT91C_BASE_PIOA->PIO_PPUDR = AT91C_PA19_CANRX | AT91C_PA20_CANTX;
-
- /* Configure the AIC for CAN interrupts */
- AIC_ConfigureIT(AT91C_ID_CAN, AT91C_AIC_PRIOR_HIGHEST, CANIrqHandler);
- CAND.base = AT91C_BASE_CAN;
-}
-
-/**
- * @brief configures and starts the CAN peripheral.
- */
-static void can_startsequence(CANDriver *canp) {
- canp->state = CAN_STARTING;
- canp->testok = AT91C_TEST_NOK;
-
- /* clock */
- /* Enable clock for PIOA */
- AT91C_BASE_PMC->PMC_PCER = (1 << AT91C_ID_PIOA);
- /* Enable the CAN controller peripheral clock */
- AT91C_BASE_PMC->PMC_PCER = (1 << AT91C_ID_CAN);
-
- /* interrupts */
-
- /* disable all interrupts */
- canp->base->CAN_IDR = 0x1FFFFFFF;
- /* Enable the interrupt on the interrupt controller*/
- AIC_EnableIT(AT91C_ID_CAN);
-
- canp->base->CAN_BR = canp->config->br;
-
-
- /* configure send mailbox, mailbox 0 */
- #if CAN_USE_MB0
- canp->mb[CAN_TxMB0-1]->CAN_MB_MCR = 0x0;
- canp->mb[CAN_TxMB0-1]->CAN_MB_MMR = AT91C_CAN_MOT_TX | AT91C_CAN_PRIOR;
- canp->mb[CAN_TxMB0-1]->CAN_MB_MAM = 0x00000000;
- canp->mb[CAN_TxMB0-1]->CAN_MB_MID = AT91C_CAN_MIDE;
- canp->mb[CAN_TxMB0-1]->CAN_MB_MDL = 0x11223344;
- canp->mb[CAN_TxMB0-1]->CAN_MB_MDH = 0x01234567;
- canp->mb[CAN_TxMB0-1]->CAN_MB_MCR = (AT91C_CAN_MDLC & (0x8 << 16));
- canp->mb[CAN_TxMB0-1]->CAN_MB_MMR = AT91C_CAN_MOT_TX | AT91C_CAN_PRIOR;
- #else
- #warning You need to acivate Mailbox0 to transmit.
- #endif
-
- #if CAN_USE_MB1
- canp->mb[CAN_RxMB1-1]->CAN_MB_MCR = 0x0;
- canp->mb[CAN_RxMB1-1]->CAN_MB_MMR = AT91C_CAN_MOT_RX | AT91C_CAN_PRIOR;
- canp->mb[CAN_RxMB1-1]->CAN_MB_MAM = AT91C_CAN_MIDE
- |(AT91C_CAN_MIDvB & canp->config->mb1_acceptance_mask)
- | (AT91C_CAN_MIDvA & canp->config->mb1_acceptance_mask);
- canp->mb[CAN_RxMB1-1]->CAN_MB_MID = AT91C_CAN_MIDE
- | (AT91C_CAN_MIDvB & canp->config->mb1_can_id)
- | (AT91C_CAN_MIDvA & canp->config->mb1_can_id);
- canp->mb[CAN_RxMB1-1]->CAN_MB_MDL = 0x00000000;
- canp->mb[CAN_RxMB1-1]->CAN_MB_MDH = 0x00000000;
-
- #endif
- #if CAN_USE_MB2
- canp->mb[CAN_RxMB2-1]->CAN_MB_MCR = 0x0;
- canp->mb[CAN_RxMB2-1]->CAN_MB_MMR = AT91C_CAN_MOT_RX | AT91C_CAN_PRIOR;
- canp->mb[CAN_RxMB2-1]->CAN_MB_MAM = AT91C_CAN_MIDE
- | (AT91C_CAN_MIDvB & canp->config->mb2_acceptance_mask)
- | (AT91C_CAN_MIDvA & canp->config->mb2_acceptance_mask);
- canp->mb[CAN_RxMB2-1]->CAN_MB_MID = AT91C_CAN_MIDE
- | (AT91C_CAN_MIDvB & canp->config->mb2_can_id)
- | (AT91C_CAN_MIDvA & canp->config->mb2_can_id);
- canp->mb[CAN_RxMB2-1]->CAN_MB_MDL = 0x00000000;
- canp->mb[CAN_RxMB2-1]->CAN_MB_MDH = 0x00000000;
-
- #endif
- #if CAN_USE_MB3
- canp->mb[CAN_RxMB3-1]->CAN_MB_MCR = 0x0;
- canp->mb[CAN_RxMB3-1]->CAN_MB_MMR = AT91C_CAN_MOT_RX | AT91C_CAN_PRIOR;
- canp->mb[CAN_RxMB3-1]->CAN_MB_MAM = AT91C_CAN_MIDE
- | (AT91C_CAN_MIDvB & canp->config->mb3_acceptance_mask)
- | (AT91C_CAN_MIDvA & canp->config->mb3_acceptance_mask);
- canp->mb[CAN_RxMB3-1]->CAN_MB_MID = AT91C_CAN_MIDE
- | (AT91C_CAN_MIDvB & canp->config->mb3_can_id)
- | (AT91C_CAN_MIDvA & canp->config->mb3_can_id);
- canp->mb[CAN_RxMB3-1]->CAN_MB_MDL = 0x00000000;
- canp->mb[CAN_RxMB3-1]->CAN_MB_MDH = 0x00000000;
-
- #endif
- #if CAN_USE_MB4
- canp->mb[CAN_RxMB4-1]->CAN_MB_MCR = 0x0;
- canp->mb[CAN_RxMB4-1]->CAN_MB_MMR = AT91C_CAN_MOT_RX | AT91C_CAN_PRIOR;_MAM = AT91C_CAN_MIDE
- | (AT91C_CAN_MIDvB & canp->config->mb4_acceptance_mask)
- | (AT91C_CAN_MIDvA & canp->config->mb4_acceptance_mask);
- canp->mb[CAN_RxMB4-1]->CAN_MB_MID = AT91C_CAN_MIDE
- | (AT91C_CAN_MIDvB & canp->config->mb4_can_id)
- | (AT91C_CAN_MIDvA & canp->config->mb4_can_id);
- canp->mb[CAN_RxMB4-1]->CAN_MB_MDL = 0x00000000;
- canp->mb[CAN_RxMB4-1]->CAN_MB_MDH = 0x00000000;
-
- #endif
- #if CAN_USE_MB5
- canp->mb[CAN_RxMB5-1]->CAN_MB_MCR = 0x0;
- canp->mb[CAN_RxMB4-1]->CAN_MB_MMR = AT91C_CAN_MOT_RX | AT91C_CAN_PRIOR;
- canp->mb[CAN_RxMB5-1]->CAN_MB_MAM = AT91C_CAN_MIDE
- | (AT91C_CAN_MIDvB & canp->config->mb5_acceptance_mask)
- | (AT91C_CAN_MIDvA & canp->config->mb5_acceptance_mask);
- canp->mb[CAN_RxMB5-1]->CAN_MB_MID = AT91C_CAN_MIDE
- | (AT91C_CAN_MIDvB & canp->config->mb5_can_id)
- | (AT91C_CAN_MIDvA & canp->config->mb5_can_id);
- canp->mb[CAN_RxMB5-1]->CAN_MB_MDL = 0x00000000;
- canp->mb[CAN_RxMB5-1]->CAN_MB_MDH = 0x00000000;
- #endif
- #if CAN_USE_MB6
- canp->mb[CAN_RxMB6-1]->CAN_MB_MCR = 0x0;
- canp->mb[CAN_RxMB6-1]->CAN_MB_MMR = AT91C_CAN_MOT_RX | AT91C_CAN_PRIOR;
- canp->mb[CAN_RxMB6-1]->CAN_MB_MAM = AT91C_CAN_MIDE
- | (AT91C_CAN_MIDvB & canp->config->mb6_acceptance_mask)
- | (AT91C_CAN_MIDvA & canp->config->mb6_acceptance_mask);
- canp->mb[CAN_RxMB6-1]->CAN_MB_MID = AT91C_CAN_MIDE
- | (AT91C_CAN_MIDvB & canp->config->mb6_can_id)
- | (AT91C_CAN_MIDvA & canp->config->mb6_can_id);
- canp->mb[CAN_RxMB6-1]->CAN_MB_MDL = 0x00000000;
- canp->mb[CAN_RxMB6-1]->CAN_MB_MDH = 0x00000000;
- #endif
- #if CAN_USE_MB7
- canp->mb[CAN_RxMB7-1]->CAN_MB_MCR = 0x0;
- canp->mb[CAN_RxMB7-1]->CAN_MB_MMR = AT91C_CAN_MOT_RX | AT91C_CAN_PRIOR;
- canp->mb[CAN_RxMB7-1]->CAN_MB_MAM = AT91C_CAN_MIDE
- | (AT91C_CAN_MIDvB & canp->config->mb7_acceptance_mask)
- | (AT91C_CAN_MIDvA & canp->config->mb7_acceptance_mask);
- canp->mb[CAN_RxMB7-1]->CAN_MB_MID = AT91C_CAN_MIDE
- | (AT91C_CAN_MIDvB & canp->config->mb7_can_id)
- | (AT91C_CAN_MIDvA & canp->config->mb7_can_id);
- canp->mb[CAN_RxMB7-1]->CAN_MB_MDL = 0x00000000;
- canp->mb[CAN_RxMB7-1]->CAN_MB_MDH = 0x00000000;
- #endif
- /* Enable the interrupt with all error cases */
- canp->base->CAN_IER = AT91C_CAN_CERR /* (CAN) CRC Error */
- | AT91C_CAN_SERR /* (CAN) Stuffing Error */
- | AT91C_CAN_BERR /* (CAN) Bit Error */
- | AT91C_CAN_FERR /* (CAN) Form Error */
- | AT91C_CAN_AERR; /* (CAN) Acknowledgment Error */
-
- /* Enable CAN and */
- canp->base->CAN_IER = AT91C_CAN_WAKEUP;
-
- /* CAN Controller Enable */
- canp->base->CAN_MR = AT91C_CAN_CANEN;
-}
-
-/**
- * @brief Configures and activates the CAN peripheral.
- *
- * @param[in] canp pointer to the @p CANDriver object
- *
- * @notapi
- */
-
-void can_lld_start(CANDriver *canp) {
-
- /*start CAN*/
- can_startsequence(canp);
- /* wait until wakeup. If no wakeup after 1 sec restart. */
- chThdSleepS(1);
- while( (canp->testok) == AT91C_TEST_NOK) {
- /* stop CAN */
- /* Disable all interrupts */
- canp->base->CAN_IDR = 0x1FFFFFFF;
- /* Disable the interrupt on the interrupt controller */
- AIC_DisableIT(AT91C_ID_CAN);
- /* Disable the CAN controller peripheral clock */
- AT91C_BASE_PMC->PMC_PCER = (0 << AT91C_ID_CAN);
- /* restart CAN */
- can_startsequence(canp);
-
- chThdSleepS(1);
- }
-
- /*enable Mailboxes */
-#if CAN_USE_MB1
- canp->base->CAN_IER = (0x1 << 1);
-#endif
-#if CAN_USE_MB2
- canp->base->CAN_IER = (0x1 << 2);
-#endif
-#if CAN_USE_MB3
- canp->base->CAN_IER = (0x1 << 3);
-#endif
-#if CAN_USE_MB4
- canp->base->CAN_IER = (0x1 << 4);
-#endif
-#if CAN_USE_MB5
- canp->base->CAN_IER = (0x1 << 5);
-#endif
-#if CAN_USE_MB6
- canp->base->CAN_IER = (0x1 << 6);
-#endif
-#if CAN_USE_MB7
- canp->base->CAN_IER = (0x1 << 7);
-#endif
-
-
-}
-
-/**
- * @brief Deactivates the CAN peripheral.
- *
- * @param[in] canp pointer to the @p CANDriver object
- *
- * @notapi
- */
-void can_lld_stop(CANDriver *canp) {
-
- /* If in ready state then disables the CAN peripheral.*/
- if (canp->state == CAN_READY) {
-
- /* Disable all interrupts */
- canp->base->CAN_IDR = 0x1FFFFFFF;
-
- /* Disable the interrupt on the interrupt controller */
- AIC_DisableIT(AT91C_ID_CAN);
-
- /* Disable the CAN controller peripheral clock */
- AT91C_BASE_PMC->PMC_PCER = (0 << AT91C_ID_CAN);
- }
-}
-
-/**
- * @brief Determines whether a frame can be transmitted.
- *
- * @param[in] canp pointer to the @p CANDriver object
- * @param[in] mailbox mailbox number, @p CAN_ANY_MAILBOX for any mailbox
- * @return The queue space availability.
- * @retval FALSE no space in the transmit queue.
- * @retval TRUE transmit slot available.
- *
- * @notapi
- */
-bool_t can_lld_is_tx_empty(CANDriver *canp, canmbx_t mailbox) {
-
- return ((canp->mb[CAN_TxMB0-1]->CAN_MB_MSR & AT91C_CAN_MRDY) != 0);
-}
-
-/**
- * @brief Send specified frame.
- *
- * @param[in] canp pointer to the @p CANDriver object
- * @param[in] mailbox mailbox number, @p CAN_ANY_MAILBOX for any mailbox
- * @param[in] ctfp pointer to the CAN frame to be transmitted
- *
- * @notapi
- */
-void can_lld_transmit(CANDriver *canp, canmbx_t mailbox, const CANTxFrame *ctfp) {
- while (!( canp->mb[CAN_TxMB0-1]->CAN_MB_MSR & AT91C_CAN_MRDY)){
- }
-#if CAN_IDE_EXT
- canp->mb[CAN_TxMB0-1]->CAN_MB_MID =
- AT91C_CAN_MIDE | (AT91C_CAN_MIDvB & ctfp->EID)
- | (AT91C_CAN_MIDvA & (ctfp->EID)); //configure the id
-#else
- canp->mb[CAN_TxMB0-1]->CAN_MB_MID = AT91C_CAN_MIDE |
- (AT91C_CAN_MIDvB & 0x0)
- | (AT91C_CAN_MIDvA & ctfp->SID); //configure the id
-
-#endif
-
- /* set length of data */
- canp->mb[CAN_TxMB0-1]->CAN_MB_MCR = (AT91C_CAN_MDLC & (ctfp->DLC << 16));
-
- /* fill low register if 0<Length<=8 */
- if(ctfp->DLC>0)
- canp->mb[CAN_TxMB0-1]->CAN_MB_MDL = ctfp->data32[0];
- /* fill high register 4<Length<=8 */
- if(ctfp->DLC>4)
- canp->mb[CAN_TxMB0-1]->CAN_MB_MDH = ctfp->data32[1];
- canp->base->CAN_IER = 1 << CAN_TxMB0-1;
- canp->base->CAN_TCR = 1 << 0; //send msg
-}
-
-/**
- * @brief check if some data is available mailbox.
- *
- * @param[in] canp pointer to the @p CANDriver object
- * @param[in] mailbox mailbox number, @p CAN_ANY_MAILBOX for any mailbox
- * @return The queue space availability.
- * @retval FALSE mailbox is empty
- * @retval TRUE some data in the mailbox
- *
- * @notapi
- */
-bool_t can_lld_is_rx_nonempty(CANDriver *canp, canmbx_t mailbox) {
-
- if(mailbox == CAN_ANY_MAILBOX){
- /* get status of all receive mailboxes (Mailbox0 is transmit mailbox) */
- if((canp->base->CAN_SR & 0xFE) != 0){
- return TRUE;
- }
- } else{
- /* get status of specified mailbox */
- if((canp->base->CAN_SR & (1<<(mailbox-1))) != 0){
- /* data available */
- return TRUE;
- } else{
- /* no data */
- return FALSE;
- }
- }
-}
-
-/**
- * @brief Receives a frame from the specified mailbox.
- *
- * @pre Make sure that the Mailbox you are receiving from is holding
- * your data. If you have more than one use the rxfull_event
- * provided by the Driver.
- *
- * @param[in] canp pointer to the @p CANDriver object
- * @param[in] mailbox mailbox number, @p CAN_ANY_MAILBOX for any mailbox
- * @param[out] crfp pointer to the buffer where the CAN frame is copied
- *
- * @notapi
- */
-void can_lld_receive(CANDriver *canp, canmbx_t mailbox, CANRxFrame *crfp) {
- if(mailbox != CAN_ANY_MAILBOX){
- /* get length of data */
- crfp->DLC = (canp->mb[mailbox-1]->CAN_MB_MSR &
- AT91C_CAN_MDLC) >> 16;
- /* store data */
- if(crfp->DLC>0){
- crfp->data32[0] = canp->mb[mailbox-1]->CAN_MB_MDL;
- }
- if(crfp->DLC>=4){
- crfp->data32[1] = canp->mb[mailbox-1]->CAN_MB_MDH;
- }
- }
- else{
- /* TODO implement can_lld_receive for CAN_ANY_MAILBOX */
- }
- /* clear register */
- canp->base->CAN_TCR = (0x1 << (mailbox-1));
- /* reenable interrupt */
- canp->base->CAN_IER = (0x1 << (mailbox-1));
-}
-
-#if CAN_USE_SLEEP_MODE || defined(__DOXYGEN__)
-/**
- * @brief Enters the sleep mode.
- *
- * @param[in] canp pointer to the @p CANDriver object
- *
- * @notapi
- */
-void can_lld_sleep(CANDriver *canp) {
- /* Wait till Tx Mailbox is ready */
- while(!((canp->mb[CAN_TxMB0-1]->CAN_MB_MSR & AT91C_CAN_MRDY) == AT91C_CAN_MRDY)){
- }
- /* enable low power mode */
- canp->base->CAN_MR |= AT91C_CAN_LPM;
- /* wait till CAN is in low power mode */
- while(!((canp->base->CAN_SR & AT91C_CAN_SLEEP) == AT91C_CAN_SLEEP)){
- }
- /* disable Clock */
- AT91C_BASE_PMC->PMC_PCDR = (1 << AT91C_ID_CAN);
-
-}
-
-/**
- * @brief Enforces leaving the sleep mode.
- *
- * @param[in] canp pointer to the @p CANDriver object
- *
- * @notapi
- */
-void can_lld_wakeup(CANDriver *canp) {
- /* enable clock */
- AT91C_BASE_PMC->PMC_PCER = (1 << AT91C_ID_CAN);
- /* disable low power mode */
- canp->base->CAN_MR &= ~(AT91C_CAN_SLEEP);
- while(!((canp->base->CAN_SR & AT91C_CAN_WAKEUP)==AT91C_CAN_WAKEUP)){
- }
-
-}
-#endif /* CAN_USE_SLEEP_MODE */
-
-#endif /* HAL_USE_CAN */
-
-/** @} */
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