1 /******************************************************************************
3 * Copyright (C) 2010 - 2014 Xilinx, Inc. All rights reserved.
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15 * Use of the Software is limited solely to applications:
16 * (a) running on a Xilinx device, or
17 * (b) that interact with a Xilinx device through a bus or interconnect.
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31 ******************************************************************************/
32 /*****************************************************************************/
37 * This header file contains the identifiers and basic driver functions (or
38 * macros) that can be used to access the device. Other driver functions
39 * are defined in xcanps.h.
42 * MODIFICATION HISTORY:
44 * Ver Who Date Changes
45 * ----- ----- -------- -----------------------------------------------
46 * 1.00a xd/sv 01/12/10 First release
47 * 1.01a sbs 12/27/11 Updated the Register/bit definitions
48 * Changed XCANPS_RXFWIR_RXFLL_MASK to XCANPS_WIR_FW_MASK
49 * Changed XCANPS_RXWIR_OFFSET to XCANPS_WIR_OFFSET
50 * Added XCANPS_IXR_TXFEMP_MASK for Tx Fifo Empty
51 * Changed XCANPS_IXR_RXFLL_MASK to
52 * XCANPS_IXR_RXFWMFLL_MASK
54 * XCANPS_TXBUF_ID_OFFSET to XCANPS_TXHPB_ID_OFFSET
55 * XCANPS_TXBUF_DLC_OFFSET to XCANPS_TXHPB_DLC_OFFSET
56 * XCANPS_TXBUF_DW1_OFFSET to XCANPS_TXHPB_DW1_OFFSET
57 * XCANPS_TXBUF_DW2_OFFSET to XCANPS_TXHPB_DW2_OFFSET
58 * 1.02a adk 08/08/13 Updated for inclding the function prototype
61 ******************************************************************************/
63 #ifndef XCANPS_HW_H /* prevent circular inclusions */
64 #define XCANPS_HW_H /* by using protection macros */
71 /***************************** Include Files *********************************/
73 #include "xil_types.h"
74 #include "xil_assert.h"
77 /************************** Constant Definitions *****************************/
79 /** @name Register offsets for the CAN. Each register is 32 bits.
82 #define XCANPS_SRR_OFFSET 0x00 /**< Software Reset Register */
83 #define XCANPS_MSR_OFFSET 0x04 /**< Mode Select Register */
84 #define XCANPS_BRPR_OFFSET 0x08 /**< Baud Rate Prescaler */
85 #define XCANPS_BTR_OFFSET 0x0C /**< Bit Timing Register */
86 #define XCANPS_ECR_OFFSET 0x10 /**< Error Counter Register */
87 #define XCANPS_ESR_OFFSET 0x14 /**< Error Status Register */
88 #define XCANPS_SR_OFFSET 0x18 /**< Status Register */
90 #define XCANPS_ISR_OFFSET 0x1C /**< Interrupt Status Register */
91 #define XCANPS_IER_OFFSET 0x20 /**< Interrupt Enable Register */
92 #define XCANPS_ICR_OFFSET 0x24 /**< Interrupt Clear Register */
93 #define XCANPS_TCR_OFFSET 0x28 /**< Timestamp Control Register */
94 #define XCANPS_WIR_OFFSET 0x2C /**< Watermark Interrupt Reg */
96 #define XCANPS_TXFIFO_ID_OFFSET 0x30 /**< TX FIFO ID */
97 #define XCANPS_TXFIFO_DLC_OFFSET 0x34 /**< TX FIFO DLC */
98 #define XCANPS_TXFIFO_DW1_OFFSET 0x38 /**< TX FIFO Data Word 1 */
99 #define XCANPS_TXFIFO_DW2_OFFSET 0x3C /**< TX FIFO Data Word 2 */
101 #define XCANPS_TXHPB_ID_OFFSET 0x40 /**< TX High Priority Buffer ID */
102 #define XCANPS_TXHPB_DLC_OFFSET 0x44 /**< TX High Priority Buffer DLC */
103 #define XCANPS_TXHPB_DW1_OFFSET 0x48 /**< TX High Priority Buf Data 1 */
104 #define XCANPS_TXHPB_DW2_OFFSET 0x4C /**< TX High Priority Buf Data Word 2 */
106 #define XCANPS_RXFIFO_ID_OFFSET 0x50 /**< RX FIFO ID */
107 #define XCANPS_RXFIFO_DLC_OFFSET 0x54 /**< RX FIFO DLC */
108 #define XCANPS_RXFIFO_DW1_OFFSET 0x58 /**< RX FIFO Data Word 1 */
109 #define XCANPS_RXFIFO_DW2_OFFSET 0x5C /**< RX FIFO Data Word 2 */
111 #define XCANPS_AFR_OFFSET 0x60 /**< Acceptance Filter Register */
112 #define XCANPS_AFMR1_OFFSET 0x64 /**< Acceptance Filter Mask 1 */
113 #define XCANPS_AFIR1_OFFSET 0x68 /**< Acceptance Filter ID 1 */
114 #define XCANPS_AFMR2_OFFSET 0x6C /**< Acceptance Filter Mask 2 */
115 #define XCANPS_AFIR2_OFFSET 0x70 /**< Acceptance Filter ID 2 */
116 #define XCANPS_AFMR3_OFFSET 0x74 /**< Acceptance Filter Mask 3 */
117 #define XCANPS_AFIR3_OFFSET 0x78 /**< Acceptance Filter ID 3 */
118 #define XCANPS_AFMR4_OFFSET 0x7C /**< Acceptance Filter Mask 4 */
119 #define XCANPS_AFIR4_OFFSET 0x80 /**< Acceptance Filter ID 4 */
122 /** @name Software Reset Register (SRR) Bit Definitions and Masks
125 #define XCANPS_SRR_CEN_MASK 0x00000002 /**< Can Enable */
126 #define XCANPS_SRR_SRST_MASK 0x00000001 /**< Reset */
129 /** @name Mode Select Register (MSR) Bit Definitions and Masks
132 #define XCANPS_MSR_SNOOP_MASK 0x00000004 /**< Snoop Mode Select */
133 #define XCANPS_MSR_LBACK_MASK 0x00000002 /**< Loop Back Mode Select */
134 #define XCANPS_MSR_SLEEP_MASK 0x00000001 /**< Sleep Mode Select */
137 /** @name Baud Rate Prescaler register (BRPR) Bit Definitions and Masks
140 #define XCANPS_BRPR_BRP_MASK 0x000000FF /**< Baud Rate Prescaler */
143 /** @name Bit Timing Register (BTR) Bit Definitions and Masks
146 #define XCANPS_BTR_SJW_MASK 0x00000180 /**< Synchronization Jump Width */
147 #define XCANPS_BTR_SJW_SHIFT 7
148 #define XCANPS_BTR_TS2_MASK 0x00000070 /**< Time Segment 2 */
149 #define XCANPS_BTR_TS2_SHIFT 4
150 #define XCANPS_BTR_TS1_MASK 0x0000000F /**< Time Segment 1 */
153 /** @name Error Counter Register (ECR) Bit Definitions and Masks
156 #define XCANPS_ECR_REC_MASK 0x0000FF00 /**< Receive Error Counter */
157 #define XCANPS_ECR_REC_SHIFT 8
158 #define XCANPS_ECR_TEC_MASK 0x000000FF /**< Transmit Error Counter */
161 /** @name Error Status Register (ESR) Bit Definitions and Masks
164 #define XCANPS_ESR_ACKER_MASK 0x00000010 /**< ACK Error */
165 #define XCANPS_ESR_BERR_MASK 0x00000008 /**< Bit Error */
166 #define XCANPS_ESR_STER_MASK 0x00000004 /**< Stuff Error */
167 #define XCANPS_ESR_FMER_MASK 0x00000002 /**< Form Error */
168 #define XCANPS_ESR_CRCER_MASK 0x00000001 /**< CRC Error */
171 /** @name Status Register (SR) Bit Definitions and Masks
174 #define XCANPS_SR_SNOOP_MASK 0x00001000 /**< Snoop Mask */
175 #define XCANPS_SR_ACFBSY_MASK 0x00000800 /**< Acceptance Filter busy */
176 #define XCANPS_SR_TXFLL_MASK 0x00000400 /**< TX FIFO is full */
177 #define XCANPS_SR_TXBFLL_MASK 0x00000200 /**< TX High Priority Buffer full */
178 #define XCANPS_SR_ESTAT_MASK 0x00000180 /**< Error Status */
179 #define XCANPS_SR_ESTAT_SHIFT 7
180 #define XCANPS_SR_ERRWRN_MASK 0x00000040 /**< Error Warning */
181 #define XCANPS_SR_BBSY_MASK 0x00000020 /**< Bus Busy */
182 #define XCANPS_SR_BIDLE_MASK 0x00000010 /**< Bus Idle */
183 #define XCANPS_SR_NORMAL_MASK 0x00000008 /**< Normal Mode */
184 #define XCANPS_SR_SLEEP_MASK 0x00000004 /**< Sleep Mode */
185 #define XCANPS_SR_LBACK_MASK 0x00000002 /**< Loop Back Mode */
186 #define XCANPS_SR_CONFIG_MASK 0x00000001 /**< Configuration Mode */
189 /** @name Interrupt Status/Enable/Clear Register Bit Definitions and Masks
192 #define XCANPS_IXR_TXFEMP_MASK 0x00004000 /**< Tx Fifo Empty Interrupt */
193 #define XCANPS_IXR_TXFWMEMP_MASK 0x00002000 /**< Tx Fifo Watermark Empty */
194 #define XCANPS_IXR_RXFWMFLL_MASK 0x00001000 /**< Rx FIFO Watermark Full */
195 #define XCANPS_IXR_WKUP_MASK 0x00000800 /**< Wake up Interrupt */
196 #define XCANPS_IXR_SLP_MASK 0x00000400 /**< Sleep Interrupt */
197 #define XCANPS_IXR_BSOFF_MASK 0x00000200 /**< Bus Off Interrupt */
198 #define XCANPS_IXR_ERROR_MASK 0x00000100 /**< Error Interrupt */
199 #define XCANPS_IXR_RXNEMP_MASK 0x00000080 /**< RX FIFO Not Empty Interrupt */
200 #define XCANPS_IXR_RXOFLW_MASK 0x00000040 /**< RX FIFO Overflow Interrupt */
201 #define XCANPS_IXR_RXUFLW_MASK 0x00000020 /**< RX FIFO Underflow Interrupt */
202 #define XCANPS_IXR_RXOK_MASK 0x00000010 /**< New Message Received Intr */
203 #define XCANPS_IXR_TXBFLL_MASK 0x00000008 /**< TX High Priority Buf Full */
204 #define XCANPS_IXR_TXFLL_MASK 0x00000004 /**< TX FIFO Full Interrupt */
205 #define XCANPS_IXR_TXOK_MASK 0x00000002 /**< TX Successful Interrupt */
206 #define XCANPS_IXR_ARBLST_MASK 0x00000001 /**< Arbitration Lost Interrupt */
207 #define XCANPS_IXR_ALL (XCANPS_IXR_RXFWMFLL_MASK | \
208 XCANPS_IXR_WKUP_MASK | \
209 XCANPS_IXR_SLP_MASK | \
210 XCANPS_IXR_BSOFF_MASK | \
211 XCANPS_IXR_ERROR_MASK | \
212 XCANPS_IXR_RXNEMP_MASK | \
213 XCANPS_IXR_RXOFLW_MASK | \
214 XCANPS_IXR_RXUFLW_MASK | \
215 XCANPS_IXR_RXOK_MASK | \
216 XCANPS_IXR_TXBFLL_MASK | \
217 XCANPS_IXR_TXFLL_MASK | \
218 XCANPS_IXR_TXOK_MASK | \
219 XCANPS_IXR_ARBLST_MASK)
222 /** @name CAN Timestamp Control Register (TCR) Bit Definitions and Masks
225 #define XCANPS_TCR_CTS_MASK 0x00000001 /**< Clear Timestamp counter mask */
228 /** @name CAN Watermark Register (WIR) Bit Definitions and Masks
231 #define XCANPS_WIR_FW_MASK 0x0000003F /**< Rx Full Threshold mask */
232 #define XCANPS_WIR_EW_MASK 0x00003F00 /**< Tx Empty Threshold mask */
233 #define XCANPS_WIR_EW_SHIFT 0x00000008 /**< Tx Empty Threshold shift */
237 /** @name CAN Frame Identifier (TX High Priority Buffer/TX/RX/Acceptance Filter
238 Mask/Acceptance Filter ID)
241 #define XCANPS_IDR_ID1_MASK 0xFFE00000 /**< Standard Messg Identifier */
242 #define XCANPS_IDR_ID1_SHIFT 21
243 #define XCANPS_IDR_SRR_MASK 0x00100000 /**< Substitute Remote TX Req */
244 #define XCANPS_IDR_SRR_SHIFT 20
245 #define XCANPS_IDR_IDE_MASK 0x00080000 /**< Identifier Extension */
246 #define XCANPS_IDR_IDE_SHIFT 19
247 #define XCANPS_IDR_ID2_MASK 0x0007FFFE /**< Extended Message Ident */
248 #define XCANPS_IDR_ID2_SHIFT 1
249 #define XCANPS_IDR_RTR_MASK 0x00000001 /**< Remote TX Request */
252 /** @name CAN Frame Data Length Code (TX High Priority Buffer/TX/RX)
255 #define XCANPS_DLCR_DLC_MASK 0xF0000000 /**< Data Length Code */
256 #define XCANPS_DLCR_DLC_SHIFT 28
257 #define XCANPS_DLCR_TIMESTAMP_MASK 0x0000FFFF /**< Timestamp Mask (Rx only) */
261 /** @name CAN Frame Data Word 1 (TX High Priority Buffer/TX/RX)
264 #define XCANPS_DW1R_DB0_MASK 0xFF000000 /**< Data Byte 0 */
265 #define XCANPS_DW1R_DB0_SHIFT 24
266 #define XCANPS_DW1R_DB1_MASK 0x00FF0000 /**< Data Byte 1 */
267 #define XCANPS_DW1R_DB1_SHIFT 16
268 #define XCANPS_DW1R_DB2_MASK 0x0000FF00 /**< Data Byte 2 */
269 #define XCANPS_DW1R_DB2_SHIFT 8
270 #define XCANPS_DW1R_DB3_MASK 0x000000FF /**< Data Byte 3 */
273 /** @name CAN Frame Data Word 2 (TX High Priority Buffer/TX/RX)
276 #define XCANPS_DW2R_DB4_MASK 0xFF000000 /**< Data Byte 4 */
277 #define XCANPS_DW2R_DB4_SHIFT 24
278 #define XCANPS_DW2R_DB5_MASK 0x00FF0000 /**< Data Byte 5 */
279 #define XCANPS_DW2R_DB5_SHIFT 16
280 #define XCANPS_DW2R_DB6_MASK 0x0000FF00 /**< Data Byte 6 */
281 #define XCANPS_DW2R_DB6_SHIFT 8
282 #define XCANPS_DW2R_DB7_MASK 0x000000FF /**< Data Byte 7 */
285 /** @name Acceptance Filter Register (AFR) Bit Definitions and Masks
288 #define XCANPS_AFR_UAF4_MASK 0x00000008 /**< Use Acceptance Filter No.4 */
289 #define XCANPS_AFR_UAF3_MASK 0x00000004 /**< Use Acceptance Filter No.3 */
290 #define XCANPS_AFR_UAF2_MASK 0x00000002 /**< Use Acceptance Filter No.2 */
291 #define XCANPS_AFR_UAF1_MASK 0x00000001 /**< Use Acceptance Filter No.1 */
292 #define XCANPS_AFR_UAF_ALL_MASK (XCANPS_AFR_UAF4_MASK | \
293 XCANPS_AFR_UAF3_MASK | \
294 XCANPS_AFR_UAF2_MASK | \
295 XCANPS_AFR_UAF1_MASK)
298 /** @name CAN frame length constants
301 #define XCANPS_MAX_FRAME_SIZE 16 /**< Maximum CAN frame length in bytes */
304 /* For backwards compatibilty */
305 #define XCANPS_TXBUF_ID_OFFSET XCANPS_TXHPB_ID_OFFSET
306 #define XCANPS_TXBUF_DLC_OFFSET XCANPS_TXHPB_DLC_OFFSET
307 #define XCANPS_TXBUF_DW1_OFFSET XCANPS_TXHPB_DW1_OFFSET
308 #define XCANPS_TXBUF_DW2_OFFSET XCANPS_TXHPB_DW2_OFFSET
310 #define XCANPS_RXFWIR_RXFLL_MASK XCANPS_WIR_FW_MASK
311 #define XCANPS_RXWIR_OFFSET XCANPS_WIR_OFFSET
312 #define XCANPS_IXR_RXFLL_MASK XCANPS_IXR_RXFWMFLL_MASK
317 /**************************** Type Definitions *******************************/
319 /***************** Macros (Inline Functions) Definitions *********************/
321 /****************************************************************************/
324 * This macro reads the given register.
326 * @param BaseAddr is the base address of the device.
327 * @param RegOffset is the register offset to be read.
329 * @return The 32-bit value of the register
333 *****************************************************************************/
334 #define XCanPs_ReadReg(BaseAddr, RegOffset) \
335 Xil_In32((BaseAddr) + (RegOffset))
338 /****************************************************************************/
341 * This macro writes the given register.
343 * @param BaseAddr is the base address of the device.
344 * @param RegOffset is the register offset to be written.
345 * @param Data is the 32-bit value to write to the register.
351 *****************************************************************************/
352 #define XCanPs_WriteReg(BaseAddr, RegOffset, Data) \
353 Xil_Out32((BaseAddr) + (RegOffset), (Data))
355 /************************** Function Prototypes ******************************/
357 * Perform reset operation to the CanPs interface
359 void XCanPs_ResetHw(u32 BaseAddr);
365 #endif /* end of protection macro */