/* ppc5xxCAN.c - implementation of Board Interface for PPC5XX *//* Copyright 2001 Wind River Systems, Inc. *//* modification history --------------------14jan02,lsg written*//* DESCRIPTIONThis file contains the functions that provide a board-level interfaceto the PPC5xx.*//* includes */#include <vxWorks.h>#include <errnoLib.h>#include <intLib.h>#include <iv.h>#include <sysLib.h>#include <CAN/wnCAN.h>#include <CAN/canController.h>#include <CAN/canBoard.h>#if (CPU==PPC555)#include <CAN/toucan.h>#include <CAN/PRIVATE/ppc5xxCAN.h>static const char ppc5xxCAN_deviceName[] ="PPC5xx CAN Controller";#define VECTOR_TABLE_OFFSET_FROM_LEVEL(n) (2*n + 1)UINT max_ppc5xx_can_devices;struct ppc5xxCAN_DeviceEntry *ppc5xxCAN_DeviceArray;/*external references*/ extern UINT32 vxImemBaseGet(void);extern STATUS CAN_DEVICE_establishLinks(WNCAN_DEVICE *pDev,            WNCAN_BoardType brdType,WNCAN_ControllerType ctrlType);extern void TouCANISR(ULONG context);/************************************************************************** ppc5xxCAN_new - install driver for ppc board*** RETURNS: OK or ERROR*   * ERRNO: N/A**/STATUS ppc5xxCAN_new(XtalFreq xf, UINT ppc5xxIlevel, UINT ppc5xxRxmode, UINT ppc5xxTxmode, UINT devnum){        int           oldLevel;    STATUS        retCode;      struct  WNCAN_Device *pDev;    struct  ppc5xxCAN_DeviceEntry *pDeviceEntry;    struct canAccess *pcanAccess;    UINT32 tblOffset = 0;    volatile USHORT irl = 0;    volatile USHORT ilbs = 0;                retCode = ERROR;      /* pessimistic */    pDeviceEntry = 0;    /* find a free device data structure */    if(ppc5xxCAN_DeviceArray[devnum].inUse == 0)    {               ppc5xxCAN_DeviceArray[devnum].inUse = 1;        pDeviceEntry = &ppc5xxCAN_DeviceArray[devnum];                if(!pDeviceEntry)                       {            errnoSet(S_can_out_of_memory);            goto exit;        }    }/*if device in use ends*/        /* setup data structures */    pDev = &pDeviceEntry->canDevice;    pDev->pCtrl = &pDeviceEntry->canController;    pDev->pBrd  =  &pDeviceEntry->canBoard;                    /*Initialise parameters in the WNCAN_Board struct*/        /*Oscillator frequency is fixed for a particular board */    pDev->pBrd->xtalFreq = xf;        /*Initialise all other non applicable parameters to 0 value*/    pDev->pBrd->irq = 0;    pDev->pBrd->ioAddress = 0;    pDev->pBrd->bar0 = 0;    pDev->pBrd->bar1 = 0;    pDev->pBrd->bar2 = 0;        /*    * The rest of the members of the WNCAN_Board struct,    * namely the function pointers will be assigned values    * by calling CAN_Device_establishLinks shortly    */        /*    * Initialise parameters in the WNCAN_CanController struct    * for each CAN controller contained in the board    */      pDev->pCtrl->ctrlID = (UCHAR)devnum;    pDev->pCtrl->pDev = pDev;       pDev->pCtrl->chnType = &g_TOUCANchnType[0];         pDev->pCtrl->numChn = TOUCAN_MAX_MSG_OBJ;               pDev->pCtrl->chnMode = &pDeviceEntry->TouCANchnMode[0];     pDev->pCtrl->csData = &pDeviceEntry->canRegAccess;    /*    * Get pointer to TouCAN registers.            */    pcanAccess = (struct canAccess *)pDev->pCtrl->csData;        pcanAccess->pTouCanRegs = (TouCAN)(TOUCAN_CHANNEL_A_BASE + (pDev->pCtrl->ctrlID * TOUCAN_REGS_OFFSET));    pcanAccess->pTouCanBufs = (TouCANBuf)(TOUCAN_BUFFERS_A_BASE + (pDev->pCtrl->ctrlID * TOUCAN_REGS_OFFSET));          pcanAccess->TouCANAutoPowersSave = 0;    pcanAccess->TouCANSupv = 0;     pcanAccess->TouCANLBuf = TOUCAN_LBUF_LOWEST_ID_FIRST;       pcanAccess->TouCANTimerSync = TOUCAN_TSYNC_ENABLE;         /*Initialise hardware related controller parameters*/    /************************************************************************/       /* Compute ILBS and IRL values from user chosen ILEVEL */       /*     * TouCAN_ILEVEL can have  a value between 0 and 31, as there are 32 possible     * interrupt levels. The value of IRL is the least significant three bits     * and ILBS is the first two most significant bits     * TouCAN_ILEVEL -> 4 3  2 1 0     *                  ilbs  irl     */           irl = ((USHORT)ppc5xxIlevel) & 0x7;    ilbs = ((USHORT)ppc5xxIlevel & 0x0018) >> 3;    pcanAccess->pTouCanRegs->can_ICR = (USHORT)((irl << 8) | (ilbs << 6));        /*Set RxMode and TxMode*/       pcanAccess->pTouCanRegs->can_CR0 = (ppc5xxRxmode << 2) | ppc5xxTxmode;                /*Set default baud rate to 250 Kbp/s*/    /*Assuming a sys clock frequency of 40 MHz*/    /*    * These value will be directly written into the control regsiters. The values have been     * decremented by 1    * 1 bittime = 1 + (PROPSEG + 1) + (TSEG1 + 1) + (TSEG2 + 1) time quanta    */    pcanAccess->ToucanPropseg = 7;        pDev->pCtrl->brp = 7;    pDev->pCtrl->sjw = 0;    pDev->pCtrl->tseg1 = 7;    pDev->pCtrl->tseg2 = 2;         pDev->pCtrl->samples = 0;             if(CAN_DEVICE_establishLinks(pDev, WNCAN_PPC5XX, WNCAN_TOUCAN) == ERROR)    {        pDev = 0;                    goto exit;    }        /*Assign the device name and id*/    pDev->deviceName = ppc5xxCAN_deviceName;        /*brdnum is 0*/    pDev->deviceId = devnum;           /* connect to isr */    oldLevel = intLock();    tblOffset = VECTOR_TABLE_OFFSET_FROM_LEVEL(ppc5xxIlevel);    intConnect((void *)tblOffset,TouCANISR,(ULONG)pDev);        intUnlock(oldLevel);        retCode = OK;exit:    return retCode;}/************************************************************************** ppc5xxCAN_establishLinks - set up function pointers*** RETURNS: OK always*   * ERRNO: N/A**/STATUS ppc5xxCAN_establishLinks(struct WNCAN_Device *pDev){        pDev->pBrd->onEnterISR = 0;    pDev->pBrd->onLeaveISR = 0;    pDev->pBrd->enableIrq  = 0;    pDev->pBrd->disableIrq = 0;    pDev->pBrd->canInByte = 0;    pDev->pBrd->canOutByte = 0;        return OK;}/************************************************************************** ppc5xxCAN_open - open a CAN device** RETURNS: pointer to a WNCAN_Device structure or 0 if error*   * ERRNO: S_can_illegal_board_no*        S_can_illegal_ctrl_no*        S_can_busy**/struct WNCAN_Device *ppc5xxCAN_open(UINT deviceNdx){    struct WNCAN_Device *pRet = 0;   /* pessimistic */        if((deviceNdx >= max_ppc5xx_can_devices) ||       (ppc5xxCAN_DeviceArray[deviceNdx].inUse == 0))    {        errnoSet(S_can_illegal_board_no);    }    else if(ppc5xxCAN_DeviceArray[deviceNdx].allocated == 1)    {        errnoSet(S_can_busy);    }    else    {        ppc5xxCAN_DeviceArray[deviceNdx].allocated = 1;        pRet = &ppc5xxCAN_DeviceArray[deviceNdx].canDevice;    }    return pRet;}/************************************************************************** ppc5xxCAN_close - close a CAN device** RETURNS: OK or ERROR*   * ERRNO: S_can_illegal_board_no*        S_can_illegal_ctrl_no**/STATUS ppc5xxCAN_close(    struct WNCAN_Device *pDev){    STATUS retVal   = ERROR;   /* pessimistic */    UINT   deviceNdx;                   if(pDev != 0)    {                deviceNdx = (pDev->deviceId) & 0xFF;        if((deviceNdx >= max_ppc5xx_can_devices) ||           (ppc5xxCAN_DeviceArray[deviceNdx].inUse == 0))        {            errnoSet(S_can_illegal_ctrl_no);        }        else        {            ppc5xxCAN_DeviceArray[deviceNdx].allocated = 0;            retVal = OK;        }    }    return retVal;}#endif /* CPU == PPC555 */