[processor-sdk/performance-audio-sr.git] / pdk_k2g_1_0_1 / packages / ti / platform / evmk2g / platform_lib / src / evmc66x_dcan_frame.c
diff --git a/pdk_k2g_1_0_1/packages/ti/platform/evmk2g/platform_lib/src/evmc66x_dcan_frame.c b/pdk_k2g_1_0_1/packages/ti/platform/evmk2g/platform_lib/src/evmc66x_dcan_frame.c
+++ /dev/null
@@ -1,482 +0,0 @@
-/*
- * Copyright (C) 2005 Marc Kleine-Budde, Pengutronix
- * Copyright (C) 2006 Andrey Volkov, Varma Electronics
- * Copyright (C) 2008-2009 Wolfgang Grandegger <wg@grandegger.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the version 2 of the GNU General Public License
- * as published by the Free Software Foundation
- *
- * This program 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, write to the Free Software
- * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-/**
- * \file evmc66x_dcan_frame.c
- *
- * \brief This file consists of wrapper functions which internally call
- * DCAN APIs.
- */
-
-#include "platform_internal.h"
-
-#if (PLATFORM_DCAN_IN)
-
-/**
- * \brief This function will configure a message object in DCAN message RAM as a
- * transmit message object.
- *
- * \param baseAdd Base Address of the DCAN Module Registers.
- * \param canPtr Pointer to can_frame structure.
- *
-**/
-unsigned int CANTxObjectConfig(unsigned int baseAdd, can_frame* canPtr)
-{
- unsigned int msgNum;
- unsigned int idLen;
-
- idLen = (canPtr->flag & CAN_EXT_FRAME) ? DCAN_29_BIT_ID : DCAN_11_BIT_ID;
-
- /* Set the message valid bit */
- DCANMsgObjValidate(baseAdd, DCAN_IF1_REG);
-
- /* Set the message id of the frame to be transmitted */
- DCANMsgIdSet(baseAdd, canPtr->id, idLen, DCAN_IF1_REG);
-
- /* Set the message object direction as transmit */
- DCANMsgDirectionSet(baseAdd, DCAN_TX_DIR, DCAN_IF1_REG);
-
- /* Set the data length code */
- DCANDataLengthCodeSet(baseAdd, canPtr->dlc, DCAN_IF1_REG);
-
- /* Write data to the DCAN data registers */
- DCANDataWrite(baseAdd, (canPtr->data), DCAN_IF1_REG);
-
- /* Enable the transmit interrupt for the message object */
- DCANMsgObjIntEnable(baseAdd, DCAN_TRANSMIT_INT, DCAN_IF1_REG);
-
- /* Enable the DCAN FIFO End of block */
- DCANFIFOEndOfBlockControl(baseAdd, DCAN_END_OF_BLOCK_ENABLE, DCAN_IF1_REG);
-
- /* Get the transmit request status */
- msgNum = DCANTxRqstStatGet(baseAdd);
-
- /* Configure the command register */
- DCANCommandRegSet(baseAdd, (DCAN_DAT_A_ACCESS | DCAN_MSG_WRITE | DCAN_TXRQST_ACCESS |
- DCAN_DAT_B_ACCESS | DCAN_ACCESS_CTL_BITS |
- DCAN_ACCESS_ARB_BITS), msgNum, DCAN_IF1_REG);
-
- return msgNum;
-}
-
-/**
- * \brief This function will configure a message object in DCAN message RAM
- * as a receive message object.
- *
- * \param baseAdd Base Address of the DCAN Module Registers.
- * \param canPtr Pointer to can_frame structure.
- *
-**/
-unsigned int CANRxObjectConfig(unsigned int baseAdd, can_frame* canPtr)
-{
- unsigned int idLen;
- unsigned int msgIndex;
-
- msgIndex = (CAN_NUM_OF_MSG_OBJS / 2) + 1;
-
- idLen = (canPtr->flag & CAN_EXT_FRAME) ? DCAN_29_BIT_ID : DCAN_11_BIT_ID;
-
- /* Use Acceptance mask. */
- DCANUseAcceptanceMaskControl(baseAdd, DCAN_MASK_USED, DCAN_IF2_REG);
-
- /* Configure the DCAN mask registers for acceptance filtering. */
- DCANMsgObjectMskConfig(baseAdd, DCAN_IDENTIFIER_MSK(canPtr->msk,
- DCAN_ID_MSK_11_BIT), DCAN_MSK_MSGDIR_DISABLE,
- DCAN_MSK_EXT_ID_DISABLE, DCAN_IF2_REG);
-
- /* Set the message valid bit */
- DCANMsgObjValidate(baseAdd, DCAN_IF2_REG);
-
- /* Set the message id of the frame to be received */
- DCANMsgIdSet(baseAdd, canPtr->id, idLen, DCAN_IF2_REG);
-
- /* Set the message object direction as receive */
- DCANMsgDirectionSet(baseAdd, DCAN_RX_DIR, DCAN_IF2_REG);
-
- /* Enable the receive interrupt for the message object */
- DCANMsgObjIntEnable(baseAdd, DCAN_RECEIVE_INT, DCAN_IF2_REG);
-
- /* Enable the FIFO end of block */
- DCANFIFOEndOfBlockControl(baseAdd, DCAN_END_OF_BLOCK_ENABLE, DCAN_IF2_REG);
-
- /* Check for the message valid status for receive objects */
- while((DCANMsgValidStatusGet(baseAdd, msgIndex)) &&
- (msgIndex <= (CAN_NUM_OF_MSG_OBJS - 1)))
- {
- msgIndex++;
- }
-
- /* Configure the command register */
- DCANCommandRegSet(baseAdd, (DCAN_ACCESS_CTL_BITS | DCAN_MSG_WRITE |
- DCAN_ACCESS_MSK_BITS | DCAN_ACCESS_ARB_BITS),
- msgIndex, DCAN_IF2_REG);
-
- return msgIndex;
-}
-
-/**
- * \brief Read data from a message object.
- *
- * \param baseAdd Base Address of the DCAN Module Registers.
- * \param msgNum Message object number.
- * \param data Pointer to an unsigned integer. Used to fetch data
- * bytes from data registers.
- * \param ifReg Interface register set used.
- *
-*/
-void CANReadMsgObjData(unsigned int baseAdd, unsigned int msgNum,
- unsigned int* data, unsigned int ifReg)
-{
- /* Read a message object from CAN message RAM to Interface register */
- DCANCommandRegSet(baseAdd, (DCAN_DAT_A_ACCESS | DCAN_DAT_B_ACCESS |
- DCAN_TXRQST_ACCESS | DCAN_CLR_INTPND |
- DCAN_ACCESS_CTL_BITS | DCAN_ACCESS_ARB_BITS |
- DCAN_ACCESS_MSK_BITS | DCAN_MSG_READ),
- msgNum, ifReg);
-
- /* Clear the NewData bit */
- DCANNewDataControl(baseAdd, DCAN_NEW_DAT_CLR, ifReg);
-
- /* Read data bytes from interface register */
- DCANDataRead(baseAdd, data, ifReg);
-}
-
-/**
- * \brief This function should be used to clear the interrupt pending status
- * of receive objects after a new message is received. This will clear
- * the IntPnd status of the message object represented by msgNum.
- *
- * \param baseAdd Base Address of the DCAN Module Registers.
- * \param msgNum Message object number.
- * \param ifReg Interface register set used.
- *
-**/
-void CANClrIntPndStat(unsigned int baseAdd, unsigned int msgNum,
- unsigned int ifReg)
-{
- /* Clear the IntPnd bit of DCAN_IFMCTL register */
- DCANClrIntPnd(baseAdd, ifReg);
-
- /* Set the ClrIntPnd bit of DCAN_IFCMD register */
- DCANCommandRegSet(baseAdd, DCAN_CLR_INTPND, msgNum, ifReg);
-}
-
-
-/**
- * \brief This function can be used by the user to validate a message object.
- *
- * \param baseAdd Base Address of the DCAN Module Registers.
- * \param msgNum Message object number.
- * \param ifReg Interface register set used.
- *
-**/
-void CANValidateMsgObject(unsigned int baseAdd, unsigned int msgNum,
- unsigned int ifReg)
-{
- /* Set the MsgVal bit of DCAN_IFARB register */
- DCANMsgObjValidate(baseAdd, ifReg);
-
- /* Set the Arb bit of DCAN_IFCMD register */
- DCANCommandRegSet(baseAdd, (DCAN_ACCESS_ARB_BITS | DCAN_MSG_WRITE),
- msgNum, ifReg);
-}
-
-/**
- * \brief This function can be used by the user to invalidate a message
- * object.
- *
- * \param baseAdd Base Address of the DCAN Module Registers.
- * \param msgNum Message object number.
- * \param ifReg Interface register set used.
- *
-**/
-void CANInValidateMsgObject(unsigned int baseAdd, unsigned int msgNum,
- unsigned int ifReg)
-{
- /* Clear the MsgVal bit of DCAN_IFARB register */
- DCANMsgObjInvalidate(baseAdd, ifReg);
-
- /* Set the Arb bit of DCAN_IFCMD register */
- DCANCommandRegSet(baseAdd, (DCAN_ACCESS_ARB_BITS | DCAN_MSG_WRITE),
- msgNum, ifReg);
-}
-
-/**
- * \brief This function can be used to disable the transmit interrupt of a
- * message object.
- *
- * \param baseAdd Base Address of the DCAN Module Registers.
- * \param msgNum Message object number.
- * \param ifReg Interface register set used.
- *
-**/
-void CANTxIntDisable(unsigned int baseAdd, unsigned int msgNum,
- unsigned int ifReg)
-{
- /* Disable the message object transmit interrupt */
- DCANMsgObjIntDisable(baseAdd, DCAN_TRANSMIT_INT, ifReg);
-
- /* Set the CTL bit of the command register */
- DCANCommandRegSet(baseAdd, (DCAN_ACCESS_CTL_BITS | DCAN_MSG_WRITE),
- msgNum, ifReg);
-}
-
-/**
- * \brief This function can be used to disable the receive interrupt of a
- * message object.
- *
- * \param baseAdd Base Address of the DCAN Module Registers.
- * \param msgNum Message object number.
- * \param ifReg Interface register set used.
- *
-**/
-void CANRxIntDisable(unsigned int baseAdd, unsigned int msgNum,
- unsigned int ifReg)
-{
- /* Disable the message object receive interrupt */
- DCANMsgObjIntDisable(baseAdd, DCAN_RECEIVE_INT, ifReg);
-
- /* Set the CTL bit of the command register */
- DCANCommandRegSet(baseAdd, (DCAN_ACCESS_CTL_BITS | DCAN_MSG_WRITE),
- msgNum, ifReg);
-}
-
-/**
- * \brief This function can be used to update the data bytes of a transmit
- * object and set TxRqst for this message object.
- *
- * \param baseAdd Base Address of the DCAN Module Registers.
- * \param dataPtr Pointer to unsigned integer. Used to write data
- * bytes to data registers.
- * \param msgNum Message object number.
- * \param ifReg Interface register set used.
- *
-**/
-void CANUpdateDataBytes(unsigned int baseAdd, unsigned int* dataPtr,
- unsigned int msgNum, unsigned int ifReg)
-{
- /* Populate the data bytes in the data registers */
- DCANDataWrite(baseAdd, dataPtr, ifReg);
-
- /* Set the DataA, DataB, TxRqst and WR of the IF_CMD register */
- DCANCommandRegSet(baseAdd, (DCAN_DAT_A_ACCESS | DCAN_DAT_B_ACCESS |
- DCAN_TXRQST_ACCESS | DCAN_MSG_WRITE),
- msgNum, ifReg);
-}
-
-/**
- * \brief This function takes I/P Clk frequency, required bit-rate on the
- * CAN bus and calculates the value to be programmed to BTR register
- * and sends the BTR value to 'DCANBitTimingConfig' API.
- *
- * \param baseAdd Base Address of the DCAN Module Registers.
- * \param clkFreq I/P clock frequency to DCAN controller.
- * \param bitRate Required bit-rate on the CAN bus.
- *
- * \return Returns the error value if error is present.
- *
-**/
-unsigned int CANSetBitTiming(unsigned int baseAdd, unsigned int clkFreq,
- unsigned int bitRate)
-{
- unsigned int errVal = 0, btrValue = 0, tSeg1 = 0, tSeg2 = 0;
- struct _dcan_bittiming bit_time_values;
- struct _dcan_hw_params *btc;
- struct _dcan_bittiming *bt;
-
- static struct _dcan_hw_params dcan_hw_params = {
- /* tseg1Min = */ 1,
- /* tseg1Max = */ 16,
- /* tseg2Min = */ 1,
- /* tseg2Max = */ 8,
- /* sjwMax = */ 4,
- /* brpMin = */ 1,
- /* brpMax = */ 1024,
- /* brpInc = */ 1,
- };
-
- bt = &bit_time_values;
- btc = &dcan_hw_params;
-
- bt->bitRate = bitRate;
-
- errVal = CANbitTimeCalculator(btc, bt, clkFreq);
-
- /* Calculate Time Segment2 value */
- tSeg2 = (bt->phaseSeg2 - 1);
-
- /* Calculate Time Segment1 value */
- tSeg1 = (bt->phaseSeg1 + bt->propSeg - 1);
-
- /* Write the BRP value */
- btrValue |= ((bt->brp - 1) & DCAN_BTR_BRP);
-
- /* Write the BRPE value */
- btrValue |= (((bt->brp - 1) & EXTRACT_BRPE_VAL) << BRPE_SHIFT);
-
- /* Write the Time Segment2 value */
- btrValue |= ((tSeg2 << DCAN_BTR_TSEG2_SHIFT) & DCAN_BTR_TSEG2);
-
- /* Write the Time Segment1 value */
- btrValue |= ((tSeg1 << DCAN_BTR_TSEG1_SHIFT) & DCAN_BTR_TSEG1);
-
- /* Set the BTR value to the DCAN bittiming register */
- DCANBitTimingConfig(baseAdd, btrValue);
-
- return errVal;
-}
-
-/**
- * \brief This function will calculate the bit-timing parameters for the
- * DCAN controller based on the input frequency and required bit-rate
- * on the CAN bus.
- *
- * \param btc Pointer to _dcan_hw_params structure \n
- * \param bt Pointer to _dcan_bittiming structure \n
- * \param clkFreq Clock frequency to DCAN controller in MHz \n
- *
- * \return 'errVal' based on the bit-rate error \n
- *
- **/
-unsigned int CANbitTimeCalculator(struct _dcan_hw_params *btc,
- struct _dcan_bittiming *bt,
- unsigned int clkFreq)
-{
- int sampl_pt, spt_error = 1000, tsegall, tseg = 0, tseg1 = 0, tseg2 = 0;
- int brp = 0, spt = 0, best_tseg = 0, best_brp = 0;
- long error = 0, best_error = 1000000000;
- unsigned int errVal = NO_BIT_RATE_ERR;
- unsigned long rate, timeQuanta;
-
- if(bt->bitRate > 800000)
- {
- sampl_pt = 750;
- }
-
- else if(bt->bitRate > 500000)
- {
- sampl_pt = 800;
- }
-
- else
- {
- sampl_pt = 875;
- }
-
- for(tseg = (btc->tseg1Max + btc->tseg2Max) * 2 + 1;
- tseg >= (btc->tseg1Min + btc->tseg2Min) * 2; tseg--)
- {
- tsegall = 1 + tseg / 2;
- /* Compute all possible tseg choices (tseg=tseg1+tseg2) */
- brp = clkFreq / (tsegall * bt->bitRate) + tseg % 2;
- /* chose brp step which is possible in system */
- brp = (brp / btc->brpInc) * btc->brpInc;
- if((brp < btc->brpMin) || (brp > btc->brpMax))
- continue;
- rate = clkFreq / (brp * tsegall);
- error = bt->bitRate - rate;
- /* tseg brp biterror */
- if(error < 0)
- error = -error;
- if(error > best_error)
- continue;
- best_error = error;
- if(error == 0)
- {
- spt = canUpdatSamPt(btc, sampl_pt, tseg / 2,
- &tseg1, &tseg2);
- error = sampl_pt - spt;
- if(error < 0)
- error = -error;
- if(error > spt_error)
- continue;
- spt_error = error;
- }
- best_tseg = tseg / 2;
- best_brp = brp;
- if(error == 0)
- break;
- }
-
- if(best_error)
- {
- /* Error in one-tenth of a percent */
- error = (best_error * 1000) / bt->bitRate;
- if(error > CAN_CALC_MAX_ERROR)
- {
- errVal = BIT_RATE_ERR_MAX;
- }
- else
- {
- errVal = BIT_RATE_ERR_WARN;
- }
- }
-
- /* real sample point */
- bt->samplePnt = canUpdatSamPt(btc, sampl_pt, best_tseg,
- &tseg1, &tseg2);
-
- timeQuanta = best_brp * 1000000000UL;
-
- bt->tq = timeQuanta;
- bt->propSeg = tseg1 / 2;
- bt->phaseSeg1 = tseg1 - bt->propSeg;
- bt->phaseSeg2 = tseg2;
- bt->sjw = 1;
- bt->brp = best_brp;
- /* real bit-rate */
- bt->bitRate = clkFreq / (bt->brp * (tseg1 + tseg2 + 1));
-
- return errVal;
-}
-
-/**
- * \brief This function will update the sampling point based on time
- * segment values \n
- *
- * \return Updated sample point value \n
- *
- **/
-int canUpdatSamPt(const struct _dcan_hw_params *ptr,
- int sampl_pt, int tseg, int *tseg1, int *tseg2)
-{
- *tseg2 = tseg + 1 - (sampl_pt * (tseg + 1)) / 1000;
-
- if(*tseg2 < ptr->tseg2Min)
- {
- *tseg2 = ptr->tseg2Min;
- }
-
- if(*tseg2 > ptr->tseg2Max)
- {
- *tseg2 = ptr->tseg2Max;
- }
-
- *tseg1 = tseg - *tseg2;
-
- if (*tseg1 > ptr->tseg1Max)
- {
- *tseg1 = ptr->tseg1Max;
- *tseg2 = tseg - *tseg1;
- }
-
- return(1000 * (tseg + 1 - *tseg2) / (tseg + 1));
-}
-
-#endif /* #if (PLATFORM_DCAN_IN) */