xcanps.c

自学ZedBoard：使用IP通过ARM PS访问FPGA（源代码）

		break;

	case XCANPS_AFR_UAF4_MASK:	/* Acceptance Filter No. 4 */
		XCanPs_WriteReg(InstancePtr->CanConfig.BaseAddr,
				XCANPS_AFMR4_OFFSET, MaskValue);
		XCanPs_WriteReg(InstancePtr->CanConfig.BaseAddr,
				XCANPS_AFIR4_OFFSET, IdValue);
		break;
	}

	return XST_SUCCESS;
}

/*****************************************************************************/
/**
*
* This function reads the values of the Acceptance Filter Mask and ID Register
* for the specified Acceptance Filter. Use XCANPS_IDR_* defined in xcanps_hw.h
* to interpret the values. Read the xcanps.h file and device specification for
* details.
*
* @param	InstancePtr is a pointer to the XCanPs instance.
* @param	FilterIndex defines which Acceptance Filter Mask Register to get
*		Mask and ID from. Use any single XCANPS_FILTER_* value.
* @param	MaskValue is a pointer to the data in which the Mask value read
*		from the chosen Acceptance Filter Mask Register is returned.
* @param	IdValue is a pointer to the data in which the ID value read
*		from the chosen Acceptance Filter ID Register is returned.
*
* @return	None.
*
* @note		None.
*
******************************************************************************/
void XCanPs_AcceptFilterGet(XCanPs *InstancePtr, u32 FilterIndex,
			  u32 *MaskValue, u32 *IdValue)
{
	Xil_AssertVoid(InstancePtr != NULL);
	Xil_AssertVoid(InstancePtr->IsReady == XIL_COMPONENT_IS_READY);
	Xil_AssertVoid((FilterIndex == XCANPS_AFR_UAF4_MASK) ||
			 (FilterIndex == XCANPS_AFR_UAF3_MASK) ||
			 (FilterIndex == XCANPS_AFR_UAF2_MASK) ||
			 (FilterIndex == XCANPS_AFR_UAF1_MASK));
	Xil_AssertVoid(MaskValue != NULL);
	Xil_AssertVoid(IdValue != NULL);

	/*
	 * Read from the AFMR and AFIR of the specified filter.
	 */
	switch (FilterIndex) {
	case XCANPS_AFR_UAF1_MASK:	/* Acceptance Filter No. 1 */
		*MaskValue = XCanPs_ReadReg(InstancePtr->CanConfig.BaseAddr,
					  XCANPS_AFMR1_OFFSET);
		*IdValue = XCanPs_ReadReg(InstancePtr->CanConfig.BaseAddr,
					  XCANPS_AFIR1_OFFSET);
		break;

	case XCANPS_AFR_UAF2_MASK:	/* Acceptance Filter No. 2 */
		*MaskValue = XCanPs_ReadReg(InstancePtr->CanConfig.BaseAddr,
					  XCANPS_AFMR2_OFFSET);
		*IdValue = XCanPs_ReadReg(InstancePtr->CanConfig.BaseAddr,
					  XCANPS_AFIR2_OFFSET);
		break;

	case XCANPS_AFR_UAF3_MASK:	/* Acceptance Filter No. 3 */
		*MaskValue = XCanPs_ReadReg(InstancePtr->CanConfig.BaseAddr,
					  XCANPS_AFMR3_OFFSET);
		*IdValue = XCanPs_ReadReg(InstancePtr->CanConfig.BaseAddr,
					  XCANPS_AFIR3_OFFSET);
		break;

	case XCANPS_AFR_UAF4_MASK:	/* Acceptance Filter No. 4 */
		*MaskValue = XCanPs_ReadReg(InstancePtr->CanConfig.BaseAddr,
					  XCANPS_AFMR4_OFFSET);
		*IdValue = XCanPs_ReadReg(InstancePtr->CanConfig.BaseAddr,
					  XCANPS_AFIR4_OFFSET);
		break;
	}
}

/*****************************************************************************/
/**
*
* This routine sets Baud Rate Prescaler value. The system clock for the CAN
* controller is divided by (Prescaler + 1) to generate the quantum clock
* needed for sampling and synchronization. Read the device specification
* for details.
*
* Baud Rate Prescaler can be set only if the CAN device is in Configuration
* Mode. Call XCanPs_EnterMode() to enter Configuration Mode before using this
* function.
*
* @param	InstancePtr is a pointer to the XCanPs instance.
* @param	Prescaler is the value to set. Valid values are from 0 to 255.
*
* @return
*		- XST_SUCCESS if the Baud Rate Prescaler value is set
*		successfully.
*		- XST_FAILURE if CAN device is not in Configuration Mode.
*
* @note		None.
*
******************************************************************************/
int XCanPs_SetBaudRatePrescaler(XCanPs *InstancePtr, u8 Prescaler)
{
	Xil_AssertNonvoid(InstancePtr != NULL);
	Xil_AssertNonvoid(InstancePtr->IsReady == XIL_COMPONENT_IS_READY);

	if (XCanPs_GetMode(InstancePtr) != XCANPS_MODE_CONFIG) {
		return XST_FAILURE;
	}

	XCanPs_WriteReg(InstancePtr->CanConfig.BaseAddr, XCANPS_BRPR_OFFSET,
				(u32)Prescaler);

	return XST_SUCCESS;
}

/*****************************************************************************/
/**
*
* This routine gets Baud Rate Prescaler value. The system clock for the CAN
* controller is divided by (Prescaler + 1) to generate the quantum clock
* needed for sampling and synchronization. Read the device specification for
* details.
*
* @param	InstancePtr is a pointer to the XCanPs instance.
*
* @return	Current used Baud Rate Prescaler value. The value's range is
*		from 0 to 255.
*
* @note		None.
*
******************************************************************************/
u8 XCanPs_GetBaudRatePrescaler(XCanPs *InstancePtr)
{
	Xil_AssertNonvoid(InstancePtr != NULL);
	Xil_AssertNonvoid(InstancePtr->IsReady == XIL_COMPONENT_IS_READY);

	return (u8) XCanPs_ReadReg(InstancePtr->CanConfig.BaseAddr,
					XCANPS_BRPR_OFFSET);

}

/*****************************************************************************/
/**
*
* This routine sets Bit time. Time segment 1, Time segment 2 and
* Synchronization Jump Width are set in this function. Device specification
* requires the values passed into this function be one less than the actual
* values of these fields. Read the device specification for details.
*
* Bit time can be set only if the CAN device is in Configuration Mode.
* Call XCanPs_EnterMode() to enter Configuration Mode before using this
* function.
*
* @param	InstancePtr is a pointer to the XCanPs instance.
* @param	SyncJumpWidth is the Synchronization Jump Width value to set.
*		Valid values are from 0 to 3.
* @param	TimeSegment2 is the Time Segment 2 value to set. Valid values
*		are from 0 to 7.
* @param	TimeSegment1 is the Time Segment 1 value to set. Valid values
*		are from 0 to 15.
*
* @return
*		- XST_SUCCESS if the Bit time is set successfully.
*		- XST_FAILURE if CAN device is not in Configuration Mode.
*
* @note		None.
*
******************************************************************************/
int XCanPs_SetBitTiming(XCanPs *InstancePtr, u8 SyncJumpWidth,
			  u8 TimeSegment2, u8 TimeSegment1)
{
	u32 Value;

	Xil_AssertNonvoid(InstancePtr != NULL);
	Xil_AssertNonvoid(InstancePtr->IsReady == XIL_COMPONENT_IS_READY);
	Xil_AssertNonvoid(SyncJumpWidth <= 3);
	Xil_AssertNonvoid(TimeSegment2 <= 7);
	Xil_AssertNonvoid(TimeSegment1 <= 15 );

	if (XCanPs_GetMode(InstancePtr) != XCANPS_MODE_CONFIG) {
		return XST_FAILURE;
	}

	Value = ((u32) TimeSegment1) & XCANPS_BTR_TS1_MASK;
	Value |= (((u32) TimeSegment2) << XCANPS_BTR_TS2_SHIFT) &
		XCANPS_BTR_TS2_MASK;
	Value |= (((u32) SyncJumpWidth) << XCANPS_BTR_SJW_SHIFT) &
		XCANPS_BTR_SJW_MASK;

	XCanPs_WriteReg(InstancePtr->CanConfig.BaseAddr,
			XCANPS_BTR_OFFSET, Value);

	return XST_SUCCESS;
}

/*****************************************************************************/
/**
*
* This routine gets Bit time. Time segment 1, Time segment 2 and
* Synchronization Jump Width values are read in this function. According to
* device specification, the actual value of each of these fields is one
* more than the value read. Read the device specification for details.
*
* @param	InstancePtr is a pointer to the XCanPs instance.
* @param	SyncJumpWidth will store the Synchronization Jump Width value
*		after this function returns. Its value ranges from 0 to 3.
* @param	TimeSegment2 will store the Time Segment 2 value after this
*		function returns. Its value ranges from 0 to 7.
* @param	TimeSegment1 will store the Time Segment 1 value after this
*		function returns. Its value ranges from 0 to 15.
*
* @return	None.
*
* @note		None.
*
******************************************************************************/
void XCanPs_GetBitTiming(XCanPs *InstancePtr, u8 *SyncJumpWidth,
			   u8 *TimeSegment2, u8 *TimeSegment1)
{
	u32 Value;

	Xil_AssertVoid(InstancePtr != NULL);
	Xil_AssertVoid(InstancePtr->IsReady == XIL_COMPONENT_IS_READY);
	Xil_AssertVoid(SyncJumpWidth != NULL);
	Xil_AssertVoid(TimeSegment2 != NULL);
	Xil_AssertVoid(TimeSegment1 != NULL);

	Value = XCanPs_ReadReg(InstancePtr->CanConfig.BaseAddr,
				XCANPS_BTR_OFFSET);

	*TimeSegment1 = (u8) (Value & XCANPS_BTR_TS1_MASK);
	*TimeSegment2 =
		(u8) ((Value & XCANPS_BTR_TS2_MASK) >> XCANPS_BTR_TS2_SHIFT);
	*SyncJumpWidth =
		(u8) ((Value & XCANPS_BTR_SJW_MASK) >> XCANPS_BTR_SJW_SHIFT);
}


/****************************************************************************/
/**
*
* This routine sets the Rx Full threshold in the Watermark Interrupt Register.
*
* @param	InstancePtr is a pointer to the XCanPs instance.
* @param	Threshold is the threshold to be set. The valid values are
*		from 1 to 63.
*
* @return
*		- XST_FAILURE - If the CAN device is not in Configuration Mode.
*		- XST_SUCCESS - If the Rx Full threshold is set in Watermark
*		Interrupt Register.
*
* @note		The threshold can only be set when the CAN device is in the
*		configuration mode.
*
*****************************************************************************/
int XCanPs_SetRxIntrWatermark(XCanPs *InstancePtr, u8 Threshold)
{

	u32 ThrReg;
	Xil_AssertNonvoid(InstancePtr != NULL);
	Xil_AssertNonvoid(InstancePtr->IsReady == XIL_COMPONENT_IS_READY);
	Xil_AssertNonvoid(Threshold <= 63);

	if (XCanPs_GetMode(InstancePtr) != XCANPS_MODE_CONFIG)
		return XST_FAILURE;

	ThrReg = XCanPs_ReadReg(InstancePtr->CanConfig.BaseAddr,
			XCANPS_WIR_OFFSET);

	ThrReg &= XCANPS_WIR_EW_MASK;
	ThrReg |= ((u32)Threshold & XCANPS_WIR_FW_MASK);
	XCanPs_WriteReg(InstancePtr->CanConfig.BaseAddr,
			XCANPS_WIR_OFFSET, ThrReg);

	return XST_SUCCESS;
}

/****************************************************************************/
/**
*
* This routine gets the Rx Full threshold from the Watermark Interrupt Register.
*
* @param	InstancePtr is a pointer to the XCanPs instance.
*
* @return	The Rx FIFO full watermark threshold value. The valid values
*		are 1 to 63.
*
* @note		None.
*
*****************************************************************************/
u8 XCanPs_GetRxIntrWatermark(XCanPs *InstancePtr)
{

	Xil_AssertNonvoid(InstancePtr != NULL);
	Xil_AssertNonvoid(InstancePtr->IsReady == XIL_COMPONENT_IS_READY);


	return (u8) (XCanPs_ReadReg(InstancePtr->CanConfig.BaseAddr,
					XCANPS_WIR_OFFSET) &
					XCANPS_WIR_FW_MASK);
}


/****************************************************************************/
/**
*
* This routine sets the Tx Empty Threshold in the Watermark Interrupt Register.
*
* @param	InstancePtr is a pointer to the XCanPs instance.
* @param	Threshold is the threshold to be set. The valid values are
*		from 1 to 63.
*
* @return
*		- XST_FAILURE - If the CAN device is not in Configuration Mode.
*		- XST_SUCCESS - If the threshold is set in Watermark
*		Interrupt Register.
*
* @note		The threshold can only be set when the CAN device is in the
*		configuration mode.
*
*****************************************************************************/
int XCanPs_SetTxIntrWatermark(XCanPs *InstancePtr, u8 Threshold)
{
	u32 ThrReg;
	Xil_AssertNonvoid(InstancePtr != NULL);
	Xil_AssertNonvoid(InstancePtr->IsReady == XIL_COMPONENT_IS_READY);
	Xil_AssertNonvoid(Threshold <= 63);

	if (XCanPs_GetMode(InstancePtr) != XCANPS_MODE_CONFIG)
		return XST_FAILURE;

	ThrReg = XCanPs_ReadReg(InstancePtr->CanConfig.BaseAddr,
			XCANPS_WIR_OFFSET);

	ThrReg &= XCANPS_WIR_FW_MASK;
	ThrReg |= ((u32)(Threshold << XCANPS_WIR_EW_SHIFT)
			& XCANPS_WIR_EW_MASK);
	XCanPs_WriteReg(InstancePtr->CanConfig.BaseAddr,
			XCANPS_WIR_OFFSET, ThrReg);

	return XST_SUCCESS;
}

/****************************************************************************/
/**
*
* This routine gets the Tx Empty threshold from Watermark Interrupt Register.
*
* @param	InstancePtr is a pointer to the XCanPs instance.
*
* @return	The Tx Empty FIFO threshold value. The valid values are 1 to 63.
*
* @note		None.
*
*****************************************************************************/
u8 XCanPs_GetTxIntrWatermark(XCanPs *InstancePtr)
{

	Xil_AssertNonvoid(InstancePtr != NULL);
	Xil_AssertNonvoid(InstancePtr->IsReady == XIL_COMPONENT_IS_READY);


	return (u8) ((XCanPs_ReadReg(InstancePtr->CanConfig.BaseAddr,
				XCANPS_WIR_OFFSET) & XCANPS_WIR_EW_MASK) >>
					XCANPS_WIR_EW_SHIFT);
}



/******************************************************************************/
/*
 * This routine is a stub for the asynchronous callbacks. The stub is here in
 * case the upper layer forgot to set the handler(s). On initialization, all
 * handlers are set to this callback. It is considered an error for this handler
 * to be invoked.
 *
 ******************************************************************************/
static void StubHandler(void)
{
	Xil_AssertVoidAlways();
}