can_drv.c

CAN DRIVER FOR FREESCALE

/* Copyright 2000 Delphi Delco Electronics Systems */
/** MECEL Revision history ****************************************
** $Revision: 1.9 $
** $Date:   Mar 19 2001 08:58:50  $
**
** $Log:   J:\PROJ\1240VW_Cluster\PVCS\can_drv.c_v  $
 *
 *    Rev 2.3   Mar 19 2001 08:58:50   MLA
 * NOPs to allow time for PSW modification to take effect
 *
 *    Rev 2.2   Jan 08 2001 13:32:26   MLA
 * Interrupt switch-off protection added.
 *
 *    Rev 2.1   Oct 12 2000 13:44:02   LI
 * Added handling of Busoff counter.
******************************************************************/
/*****************************************************************************
| Project Name: C A N - D R I V E R
|    File Name: CAN_DRV.C
|
|  Description: Implementation of the CAN driver
|               Target systems: external intel 82527 or
|                               SAB 80C16X with internal CAN or
|                               C515C with internal CAN or
|                               C505C with internal CAN
|               Compiler:       Tasking V6R2
|                               Keil    PK51, V5.50a
|
|-----------------------------------------------------------------------------
|               C O P Y R I G H T
|-----------------------------------------------------------------------------
| Copyright (c) 1996-1998 by Vector Informatik GmbH.       All rights reserved.
|
|                    Alle Rechte an der Software verbleiben bei der
|                    Vector Informatik GmbH.
|                    Vector Informatik GmbH r鋟mt dem Lizenznehmer das unwider-
|                    rufliche, geographisch und zeitlich nicht beschr鋘kte,
|                    jedoch nicht ausschlie遧iche Nutzungsrecht innerhalb des
|                    Lizenznehmers ein. Die Weitergabe des Nutzungsrechts
|                    durch den Lizenznehmer ist auf dessen Zulieferer
|                    beschr鋘kt. Die Zulieferer sind zu verpflichten, die
|                    Software nur im Rahmen von Projekten f黵 den Lizenznehmer
|                    zu verwenden; weitere Rechte der Zulieferer sind
|                    auszuschlie遝n.
|
|-----------------------------------------------------------------------------
|               A U T H O R   I D E N T I T Y
|-----------------------------------------------------------------------------
| Initials     Name                      Company
| --------     ---------------------     ------------------------------------
| Eb           Volker Ebner              Vector Informatik GmbH
| St           Heiko Schmidt             Vector Informatik GmbH
| Ra           Andreas Raisch            Vector Informatik GmbH
| dH           Gunnar de Haan            Vector Informatik GmbH
| Hn           Stephan Hoffmann          Vector Informatik GmbH
| Hp           Armin Happel              Vector Informatik GmbH
| Lz           Rainer Lutz               Vector Informatik GmbH
| Ba           Bernd Baudermann          Vector Informatik GmbH
|-----------------------------------------------------------------------------
|               R E V I S I O N   H I S T O R Y
|-----------------------------------------------------------------------------
| Date       Ver  Author  Description
| ---------  ---  ------  --------------------------------------------------
| 01-Nov-96  1.0  Eb      Creation
| 22-Jan-97  1.02 Eb      Optimizations
| 01-Dez-97  1.03 St      event or task functionality after a receive and transmit
| 27-Jan-98  1.04 St      Goal functionality
| 10-Feb-98  1.05 St      Full and Basic use the same structures
|                         functions c_getStatus and c_setStatus are renamed
|                         to CanSetStatus and CanGetStatus
| 19-Feb-98  1.06 St      Bug in FULL CAN Goal removed
| 25-Feb-98  1.07 St      canSetStatus renamed to canOnline() and canOffline()
| 02-Apr-98  2.00 Eb/Ra   New API for variable DLC: canTransmitVarDLC
|                         CanEcuNumber and CanRxActualDLC will be calculated if
|                         a precopy function is defined. DLC will be stored
|                         into RAM, TxDLC_RAM[]. ROM values from CanTxDLC[] are
|                         copied at canInit().
| 15-Mai-98  2.10 Ra/dH   New API for changing FullCan-ReceiveMask while system
|                         is running.
|                         CanEcuNumber will be calculated to 8 Bit within
|                         precopy routines. For CanEcuNumber usage within NM
|                         an unneeded "&0xE0" was removed! Interrupt uses
|                         kCanNoCopyData for decision to copy data after precopy
| 28-Mai-98  2.11 dH      removed Bug in switch/case statement of copy CanRxData
|                         with C_OPTIMIZE_SPEED
|                         removed Bugs in Port-Routines (structure access)
|                         New PreTransmit routine
| 5-Jun-98   2.12 dH, Hn  support for transport layer added
| 9-Jun-98   2.13 dH, Hn  CanEcuNumber calculation corrected for TP, if TP message
|                         is Full-CAN or Basic-CAN object.
| 17-Jun-98  2.14 dH      Init-Structures changed to arrays; init-handle added
| 3-Jul-98        dH      CanSetPassive : added clear TxQueue
| 7-Aug-98        dH/Hp   support for Borland compiler added
| 12-Aug-98       dH      removed Goal part, added Message Manager support
|                         CanTestChip now also available if defined C_ENABLE_TEST_CHIP
| 09-Sep-98  2.15 Lz/Ba   support for 80C5x5 and Keil compiler added
| 13-Aug-98  2.20 dH      corrected ISR function header
| 19-Aug-98       dH      CanEcuNumber calculation corrected, subtraction of
|                         TP_RX_BASE_ADDRESS is not longer done in CAN_DRV.C
|                         Indication and Confirmatin functions: parameter type changed
|                         from pChipDataPtr to CanReceiveHandle / CanTransmitHandle
| 17-Sep-98  2.21 dH      remerged C16x and C5x5 sources to one single source
| 30-Sep-98  2.22 dH      Bugfix in function CanInit
| 05-Oct-98  2.23 dH      added CanInterruptOldStatus to save interrupt status to restore
|                         this status when gInterruptCounter==0 in CanInterruptRestore
| 07-Oct-98  2.24 Ba      recursion depth decreased from 255 to 127 (gInterruptCounter now int8)
|                         #ifdef C_DISABLE_TP_SUPPORT deleted
| 07-Oct-98  2.25 dH      CanInterruptDisable & CanInterruptRestore optimized
| 05-Nov-98  2.26 Hn      ifdef for timeout added
| 10-Nov-98  2.27 dH      copy data to buffer only if buffer exists
| 11-Nov-98  2.28 dH      support for OSEK added,return of Goal part,some beautifying
| 12-Nov-98  2.29 Ba      Disable and restore of interrupt state can realized
|                         by the application (in this case no register bank
|                         switching will be done): depending on the configuration
|                         two Call-Back functions will be called. Special
|                         functions will be called to do this, instead of
|                         pragma DISABLE.
|                         Address mode of CAN chip access can configured as
|                         pdata or xdata.
|                         Local variables of CanInit are changed to static,
|                         to avoid Linker warnings caused by not relevant
|                         recursive call.
|                         Bugfixing: Init of src pointer in CanTransmit will
|                         be done after the interrupts are disabled
| 26-Nov-98  2.30 dH,Ba  conversion to new Vector programming guidelines
|                 Hp      New datatypes
|                         kTrue/kFalse replaced by 0/1
|                         declaration of TxDLC_RAM removed because of changed
|                         to external
|                         CanWakeUp CanSleep CanPowerDown : moved #ifdef into function
|                         Supporting HIGHTEC GNU-Compiler on C167
|                         Interrutps in CanOffline only will be disabled if
|                         Queue version is used
|                         missing } in CanPortBitWrite added, deTAB
|                         CanInterruptDisable changed
|                         keyword "register" for complex variables with Keil compiler for C16X removed
|                         assertCanInterrupt added
|****************************************************************************/

/***************************************************************************/
/* Include files                                                           */
/***************************************************************************/

#ifdef C_ENABLE_OSEK
#include <vrm.h>
#define VRM_MAJ_REL_NUM 1 /* means 1.08 */
#define VRM_MIN_REL_NUM 8
#include <vrm.h>
#include <stddef.h>
#include <osek.h>
#endif /* C_ENABLE_OSEK */

#include "can_inc.h"


#if defined( C_COMP_TASKING_C16x ) || \
    defined( C_COMP_KEIL_C16x )
#include <reg167.h>                   /* needed for dis/enable Irpt IEN =0/1 */
#endif




#if defined( C_COMP_KEIL_C16x )
  #include "can_decl.h"
#endif


#if defined( C_ENABLE_GOAL )
 #include "goal.h"
#endif



/***************************************************************************/
/* Version check                                                           */
/***************************************************************************/
#if( CAN_DRIVER_VERSION != 0x0230 )
 #error "Source and Header file are inconsistent!"
#endif



/***************************************************************************/
/* Defines                                                                 */
/***************************************************************************/
/* NM related defines */
#if defined( C_COMP_KEIL_C5X5C )
 sbit  EA     = 0xAF;                   /* needed for dis/enable Irpt EA =0/1 */
 sfr   XPAGE  = 0x91;                   /* XDATA base register */
#endif



#if defined( C_NM_VAG_OSEK )
 #define C_NWM_BASE_ID_HI     (0x04 << 5)    /* base address for NWM msg=0x400  */
 #define C_NWM_ACCEPT_MASK    (0xF8)         /* mask to select NWM message 0-64 */
 #define C_NWM_MASK           (0xFC)         /* mask to calculate ECU nmbr 0-31 */
#endif




//#define _DEBUG_    1     /*  define to 1 to check internal queue state */
#undef _DEBUG_             /*  NOTE: very time consuming !!              */

/* Define chiphardware                  */
/* Constants concerning 82527-registers */
/* control registers for msg objects    */
#define kResetMsgVal   0x7f /* 01111111 */   /* Reset=01;Set=10;Unchanged=11*/
#define kSetMsgVal     0xbf /* 10111111 */
#define kTestMsgVal    0x80 /* 10000000 */
#define kResetTxIE     0xdf /* 11011111 */
#define kSetTxIE       0xef /* 11101111 */
#define kResetRxIE     0xf7 /* 11110111 */
#define kSetRxIE       0xfb /* 11111011 */
#define kResetIntPnd   0xfd /* 11111101 */
#define kSetIntPnd     0xfe /* 11111110 */
#define kTestIntPnd    0x02 /* 00000010 */

#define kResetTxRqst   0xdf /* 11011111 */
#define kSetTxRqst     0xef /* 11101111 */
#define kTestTxRqst    0x20 /* 00100000 */
#define kResetCPUUpd   0xf7 /* 11110111 */
#define kSetCPUUpd     0xfb /* 11111011 */
#define kResetMsgLost  0xf7 /* 11110111 */
#define kSetMsgLost    0xfB /* 11111011 */
#define kTestMsgLost   0x08 /* 00001000 */
#define kResetNewDat   0xfd /* 11111101 */
#define kSetNewDat     0xfe /* 11111110 */
#define kTestNewDat    0x02 /* 00000010 */

#define kInitTmt       0x66 /* 01100110 : ---->   ResetRmtPnd | SetTxRqst */
                                            /*  | ResetCPUUpd | SetNewDat */
#define ReadMsgDlc(reg)  ((reg)>>4)
#define IsMsgTmt(obj)    ((obj->ucMsgConf)&0x08)

#define IsMsgLst(reg)    ((reg)&kTestMsgLst)
#define IsNoMsgLst(reg)  ((reg)&kTestNoMsgLst)

/* Bit masks for command register */
#define  kGotoSleep         0x08       /* Goto Sleep                    */
#define  kGotoPwd           0x10       /* Goto Powerdown                */

/* Bit masks for status register */
#define  kTxOk              0x08       /* Transmission success          */
#define  kRxOk              0x10       /* Reception success             */
#define  kWakeUp            0x20       /* chip was waked up             */
#define  kErrWarn           0x40       /* Error: Warning Limit reached  */
#define  kErrBusOff         0x80       /* Error: Busoff Limit reached   */
#define  kLECUnused         0x07       /* LastErrorCode unused          */

/* Bit masks for control register */
#define  kEIE               0x08       /* Error Interrupt Enable         */
#define  kSIE               0x04       /* Status Change Interrupt Enable */
#define  kIE                0x02       /* Interrupt Enable               */
#define  kInit              0x01       /* Initialziation                 */
#define  kCCE               0x40       /* Control Change Enable          */

/* Bit masks for CPUInterface register */
#define  kRstSt             0x80        /* Hardware Reset status       */
#define  kDSC               0x40        /* Divide System Cloc          */
#define  kDMC               0x20        /* Divide Memory Clock         */
#define  kPwD               0x10        /* Power Down Mode Enable      */
#define  kSleep             0x08        /* Sleep Mode Enable           */
#define  kMUX               0x04        /* Multiplex for ISO low speed */
#define  kCE                0x01        /* Clock out enable            */

/* wait time counter values; used for external 82527 only ! */
#define  kWaitReset         0xffff      /* wait for chip reset      */
#define  kWaitTime1         10000       /* wait for register access */
#define  kWaitTime2         100         /* wait for register access */

/* macros used to check chip hardware e.g. driver internal state */
#if defined ( C_ENABLE_HARDWARE_CHECK )
 #define assertCan(p,e) if (!(p))  ApplFatalError(e);
#else
 #define assertCan(a,b)
#endif

#define assertCanInterrupt(q,f) if (!(q)) ApplFatalError(f);

/***************************************************************************/
/* Defines / data types / structs / unions                                 */
/***************************************************************************/

/* Define CAN Chip hardware; segment must be located in locator file    */
/* register layout of the can chip                                      */
/* For some compilers the register layout is defined in a seperate file */
/* because they need this (for example Keil for 80C16x )                */

#if defined( C_COMP_TASKING_C16x ) || \
    defined( C_COMP_KEIL_C5X5C )

#define ucExCLKOUT      sMsg1Obj.aucSomeBytes[9]
#define ucExBCR         sMsg2Obj.aucSomeBytes[9]
#define ucExBt0Reg      sMsg3Obj.aucSomeBytes[9]
#define ucExBt1Reg      sMsg4Obj.aucSomeBytes[9]
#define ucExIntrReg     sMsg5Obj.aucSomeBytes[9]
#define ucExP1CONF      sMsg9Obj.aucSomeBytes[9]
#define ucExP2CONF      sMsg10Obj.aucSomeBytes[9]
#define ucExP1IN        sMsg11Obj.aucSomeBytes[9]
#define ucExP2IN        sMsg12Obj.aucSomeBytes[9]
#define ucExP1OUT       sMsg13Obj.aucSomeBytes[9]
#define ucExP2OUT       sMsg14Obj.aucSomeBytes[9]
#define ucExSerResAddr  sMsg15Obj.aucSomeBytes[9]

#define aucCanData(i)   aucSomeBytes[i+1]
#define ucMsgConf       aucSomeBytes[0]

typedef volatile struct tCanMsgObj
{
  canuint8      ucCntrl0;                   /* Control Register */
  canuint8      ucCntrl1;                   /* Control Register */
  /* 16-Bit access reserved for optimization */
  canuint8      aucArbitrFld[4];            /* ! High-Byte first */

  canuint8      aucSomeBytes[10];
} CanMsgObj ;


typedef volatile struct sCan82527AddrMapNamed
{
  canuint8       ucCntrlReg;                /* Control-Register              */
  canuint8       ucStatReg;                 /* Status-Register               */
  union {
    struct {
      canuint8       ucCPUIntf;            /* CPU-Interface                 */
      canuint8       ucReserved1;          /* Reserved                      */
      canuint16      uiHiSpeedRead;        /* High-Speed-Read               */
    } ex;                                  /* external 82527 ---------------*/
    struct {
      canuint8       ucIntrReg;           /* Interrupt-Register            */
      canuint8       dummy;
#ifdef C_COMP_KEIL_C5X5C