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40 ******************************************************************************/
41 /*****************************************************************************/
46 * This header file contains the identifiers and basic driver functions (or
47 * macros) that can be used to access the device. Other driver functions
48 * are defined in xcanps.h.
51 * MODIFICATION HISTORY:
53 * Ver Who Date Changes
54 * ----- ----- -------- -----------------------------------------------
55 * 1.00a xd/sv 01/12/10 First release
56 * 1.01a sbs 12/27/11 Updated the Register/bit definitions
57 * Changed XCANPS_RXFWIR_RXFLL_MASK to XCANPS_WIR_FW_MASK
58 * Changed XCANPS_RXWIR_OFFSET to XCANPS_WIR_OFFSET
59 * Added XCANPS_IXR_TXFEMP_MASK for Tx Fifo Empty
60 * Changed XCANPS_IXR_RXFLL_MASK to
61 * XCANPS_IXR_RXFWMFLL_MASK
63 * XCANPS_TXBUF_ID_OFFSET to XCANPS_TXHPB_ID_OFFSET
64 * XCANPS_TXBUF_DLC_OFFSET to XCANPS_TXHPB_DLC_OFFSET
65 * XCANPS_TXBUF_DW1_OFFSET to XCANPS_TXHPB_DW1_OFFSET
66 * XCANPS_TXBUF_DW2_OFFSET to XCANPS_TXHPB_DW2_OFFSET
67 * 1.02a adk 08/08/13 Updated for inclding the function prototype
70 ******************************************************************************/
72 #ifndef XCANPS_HW_H /* prevent circular inclusions */
73 #define XCANPS_HW_H /* by using protection macros */
80 /***************************** Include Files *********************************/
82 #include "xil_types.h"
83 #include "xil_assert.h"
86 /************************** Constant Definitions *****************************/
88 /** @name Register offsets for the CAN. Each register is 32 bits.
91 #define XCANPS_SRR_OFFSET 0x00 /**< Software Reset Register */
92 #define XCANPS_MSR_OFFSET 0x04 /**< Mode Select Register */
93 #define XCANPS_BRPR_OFFSET 0x08 /**< Baud Rate Prescaler */
94 #define XCANPS_BTR_OFFSET 0x0C /**< Bit Timing Register */
95 #define XCANPS_ECR_OFFSET 0x10 /**< Error Counter Register */
96 #define XCANPS_ESR_OFFSET 0x14 /**< Error Status Register */
97 #define XCANPS_SR_OFFSET 0x18 /**< Status Register */
99 #define XCANPS_ISR_OFFSET 0x1C /**< Interrupt Status Register */
100 #define XCANPS_IER_OFFSET 0x20 /**< Interrupt Enable Register */
101 #define XCANPS_ICR_OFFSET 0x24 /**< Interrupt Clear Register */
102 #define XCANPS_TCR_OFFSET 0x28 /**< Timestamp Control Register */
103 #define XCANPS_WIR_OFFSET 0x2C /**< Watermark Interrupt Reg */
105 #define XCANPS_TXFIFO_ID_OFFSET 0x30 /**< TX FIFO ID */
106 #define XCANPS_TXFIFO_DLC_OFFSET 0x34 /**< TX FIFO DLC */
107 #define XCANPS_TXFIFO_DW1_OFFSET 0x38 /**< TX FIFO Data Word 1 */
108 #define XCANPS_TXFIFO_DW2_OFFSET 0x3C /**< TX FIFO Data Word 2 */
110 #define XCANPS_TXHPB_ID_OFFSET 0x40 /**< TX High Priority Buffer ID */
111 #define XCANPS_TXHPB_DLC_OFFSET 0x44 /**< TX High Priority Buffer DLC */
112 #define XCANPS_TXHPB_DW1_OFFSET 0x48 /**< TX High Priority Buf Data 1 */
113 #define XCANPS_TXHPB_DW2_OFFSET 0x4C /**< TX High Priority Buf Data Word 2 */
115 #define XCANPS_RXFIFO_ID_OFFSET 0x50 /**< RX FIFO ID */
116 #define XCANPS_RXFIFO_DLC_OFFSET 0x54 /**< RX FIFO DLC */
117 #define XCANPS_RXFIFO_DW1_OFFSET 0x58 /**< RX FIFO Data Word 1 */
118 #define XCANPS_RXFIFO_DW2_OFFSET 0x5C /**< RX FIFO Data Word 2 */
120 #define XCANPS_AFR_OFFSET 0x60 /**< Acceptance Filter Register */
121 #define XCANPS_AFMR1_OFFSET 0x64 /**< Acceptance Filter Mask 1 */
122 #define XCANPS_AFIR1_OFFSET 0x68 /**< Acceptance Filter ID 1 */
123 #define XCANPS_AFMR2_OFFSET 0x6C /**< Acceptance Filter Mask 2 */
124 #define XCANPS_AFIR2_OFFSET 0x70 /**< Acceptance Filter ID 2 */
125 #define XCANPS_AFMR3_OFFSET 0x74 /**< Acceptance Filter Mask 3 */
126 #define XCANPS_AFIR3_OFFSET 0x78 /**< Acceptance Filter ID 3 */
127 #define XCANPS_AFMR4_OFFSET 0x7C /**< Acceptance Filter Mask 4 */
128 #define XCANPS_AFIR4_OFFSET 0x80 /**< Acceptance Filter ID 4 */
131 /** @name Software Reset Register (SRR) Bit Definitions and Masks
134 #define XCANPS_SRR_CEN_MASK 0x00000002 /**< Can Enable */
135 #define XCANPS_SRR_SRST_MASK 0x00000001 /**< Reset */
138 /** @name Mode Select Register (MSR) Bit Definitions and Masks
141 #define XCANPS_MSR_SNOOP_MASK 0x00000004 /**< Snoop Mode Select */
142 #define XCANPS_MSR_LBACK_MASK 0x00000002 /**< Loop Back Mode Select */
143 #define XCANPS_MSR_SLEEP_MASK 0x00000001 /**< Sleep Mode Select */
146 /** @name Baud Rate Prescaler register (BRPR) Bit Definitions and Masks
149 #define XCANPS_BRPR_BRP_MASK 0x000000FF /**< Baud Rate Prescaler */
152 /** @name Bit Timing Register (BTR) Bit Definitions and Masks
155 #define XCANPS_BTR_SJW_MASK 0x00000180 /**< Synchronization Jump Width */
156 #define XCANPS_BTR_SJW_SHIFT 7
157 #define XCANPS_BTR_TS2_MASK 0x00000070 /**< Time Segment 2 */
158 #define XCANPS_BTR_TS2_SHIFT 4
159 #define XCANPS_BTR_TS1_MASK 0x0000000F /**< Time Segment 1 */
162 /** @name Error Counter Register (ECR) Bit Definitions and Masks
165 #define XCANPS_ECR_REC_MASK 0x0000FF00 /**< Receive Error Counter */
166 #define XCANPS_ECR_REC_SHIFT 8
167 #define XCANPS_ECR_TEC_MASK 0x000000FF /**< Transmit Error Counter */
170 /** @name Error Status Register (ESR) Bit Definitions and Masks
173 #define XCANPS_ESR_ACKER_MASK 0x00000010 /**< ACK Error */
174 #define XCANPS_ESR_BERR_MASK 0x00000008 /**< Bit Error */
175 #define XCANPS_ESR_STER_MASK 0x00000004 /**< Stuff Error */
176 #define XCANPS_ESR_FMER_MASK 0x00000002 /**< Form Error */
177 #define XCANPS_ESR_CRCER_MASK 0x00000001 /**< CRC Error */
180 /** @name Status Register (SR) Bit Definitions and Masks
183 #define XCANPS_SR_SNOOP_MASK 0x00001000 /**< Snoop Mask */
184 #define XCANPS_SR_ACFBSY_MASK 0x00000800 /**< Acceptance Filter busy */
185 #define XCANPS_SR_TXFLL_MASK 0x00000400 /**< TX FIFO is full */
186 #define XCANPS_SR_TXBFLL_MASK 0x00000200 /**< TX High Priority Buffer full */
187 #define XCANPS_SR_ESTAT_MASK 0x00000180 /**< Error Status */
188 #define XCANPS_SR_ESTAT_SHIFT 7
189 #define XCANPS_SR_ERRWRN_MASK 0x00000040 /**< Error Warning */
190 #define XCANPS_SR_BBSY_MASK 0x00000020 /**< Bus Busy */
191 #define XCANPS_SR_BIDLE_MASK 0x00000010 /**< Bus Idle */
192 #define XCANPS_SR_NORMAL_MASK 0x00000008 /**< Normal Mode */
193 #define XCANPS_SR_SLEEP_MASK 0x00000004 /**< Sleep Mode */
194 #define XCANPS_SR_LBACK_MASK 0x00000002 /**< Loop Back Mode */
195 #define XCANPS_SR_CONFIG_MASK 0x00000001 /**< Configuration Mode */
198 /** @name Interrupt Status/Enable/Clear Register Bit Definitions and Masks
201 #define XCANPS_IXR_TXFEMP_MASK 0x00004000 /**< Tx Fifo Empty Interrupt */
202 #define XCANPS_IXR_TXFWMEMP_MASK 0x00002000 /**< Tx Fifo Watermark Empty */
203 #define XCANPS_IXR_RXFWMFLL_MASK 0x00001000 /**< Rx FIFO Watermark Full */
204 #define XCANPS_IXR_WKUP_MASK 0x00000800 /**< Wake up Interrupt */
205 #define XCANPS_IXR_SLP_MASK 0x00000400 /**< Sleep Interrupt */
206 #define XCANPS_IXR_BSOFF_MASK 0x00000200 /**< Bus Off Interrupt */
207 #define XCANPS_IXR_ERROR_MASK 0x00000100 /**< Error Interrupt */
208 #define XCANPS_IXR_RXNEMP_MASK 0x00000080 /**< RX FIFO Not Empty Interrupt */
209 #define XCANPS_IXR_RXOFLW_MASK 0x00000040 /**< RX FIFO Overflow Interrupt */
210 #define XCANPS_IXR_RXUFLW_MASK 0x00000020 /**< RX FIFO Underflow Interrupt */
211 #define XCANPS_IXR_RXOK_MASK 0x00000010 /**< New Message Received Intr */
212 #define XCANPS_IXR_TXBFLL_MASK 0x00000008 /**< TX High Priority Buf Full */
213 #define XCANPS_IXR_TXFLL_MASK 0x00000004 /**< TX FIFO Full Interrupt */
214 #define XCANPS_IXR_TXOK_MASK 0x00000002 /**< TX Successful Interrupt */
215 #define XCANPS_IXR_ARBLST_MASK 0x00000001 /**< Arbitration Lost Interrupt */
216 #define XCANPS_IXR_ALL (XCANPS_IXR_RXFWMFLL_MASK | \
217 XCANPS_IXR_WKUP_MASK | \
218 XCANPS_IXR_SLP_MASK | \
219 XCANPS_IXR_BSOFF_MASK | \
220 XCANPS_IXR_ERROR_MASK | \
221 XCANPS_IXR_RXNEMP_MASK | \
222 XCANPS_IXR_RXOFLW_MASK | \
223 XCANPS_IXR_RXUFLW_MASK | \
224 XCANPS_IXR_RXOK_MASK | \
225 XCANPS_IXR_TXBFLL_MASK | \
226 XCANPS_IXR_TXFLL_MASK | \
227 XCANPS_IXR_TXOK_MASK | \
228 XCANPS_IXR_ARBLST_MASK)
231 /** @name CAN Timestamp Control Register (TCR) Bit Definitions and Masks
234 #define XCANPS_TCR_CTS_MASK 0x00000001 /**< Clear Timestamp counter mask */
237 /** @name CAN Watermark Register (WIR) Bit Definitions and Masks
240 #define XCANPS_WIR_FW_MASK 0x0000003F /**< Rx Full Threshold mask */
241 #define XCANPS_WIR_EW_MASK 0x00003F00 /**< Tx Empty Threshold mask */
242 #define XCANPS_WIR_EW_SHIFT 0x00000008 /**< Tx Empty Threshold shift */
246 /** @name CAN Frame Identifier (TX High Priority Buffer/TX/RX/Acceptance Filter
247 Mask/Acceptance Filter ID)
250 #define XCANPS_IDR_ID1_MASK 0xFFE00000 /**< Standard Messg Identifier */
251 #define XCANPS_IDR_ID1_SHIFT 21
252 #define XCANPS_IDR_SRR_MASK 0x00100000 /**< Substitute Remote TX Req */
253 #define XCANPS_IDR_SRR_SHIFT 20
254 #define XCANPS_IDR_IDE_MASK 0x00080000 /**< Identifier Extension */
255 #define XCANPS_IDR_IDE_SHIFT 19
256 #define XCANPS_IDR_ID2_MASK 0x0007FFFE /**< Extended Message Ident */
257 #define XCANPS_IDR_ID2_SHIFT 1
258 #define XCANPS_IDR_RTR_MASK 0x00000001 /**< Remote TX Request */
261 /** @name CAN Frame Data Length Code (TX High Priority Buffer/TX/RX)
264 #define XCANPS_DLCR_DLC_MASK 0xF0000000 /**< Data Length Code */
265 #define XCANPS_DLCR_DLC_SHIFT 28
266 #define XCANPS_DLCR_TIMESTAMP_MASK 0x0000FFFF /**< Timestamp Mask (Rx only) */
270 /** @name CAN Frame Data Word 1 (TX High Priority Buffer/TX/RX)
273 #define XCANPS_DW1R_DB0_MASK 0xFF000000 /**< Data Byte 0 */
274 #define XCANPS_DW1R_DB0_SHIFT 24
275 #define XCANPS_DW1R_DB1_MASK 0x00FF0000 /**< Data Byte 1 */
276 #define XCANPS_DW1R_DB1_SHIFT 16
277 #define XCANPS_DW1R_DB2_MASK 0x0000FF00 /**< Data Byte 2 */
278 #define XCANPS_DW1R_DB2_SHIFT 8
279 #define XCANPS_DW1R_DB3_MASK 0x000000FF /**< Data Byte 3 */
282 /** @name CAN Frame Data Word 2 (TX High Priority Buffer/TX/RX)
285 #define XCANPS_DW2R_DB4_MASK 0xFF000000 /**< Data Byte 4 */
286 #define XCANPS_DW2R_DB4_SHIFT 24
287 #define XCANPS_DW2R_DB5_MASK 0x00FF0000 /**< Data Byte 5 */
288 #define XCANPS_DW2R_DB5_SHIFT 16
289 #define XCANPS_DW2R_DB6_MASK 0x0000FF00 /**< Data Byte 6 */
290 #define XCANPS_DW2R_DB6_SHIFT 8
291 #define XCANPS_DW2R_DB7_MASK 0x000000FF /**< Data Byte 7 */
294 /** @name Acceptance Filter Register (AFR) Bit Definitions and Masks
297 #define XCANPS_AFR_UAF4_MASK 0x00000008 /**< Use Acceptance Filter No.4 */
298 #define XCANPS_AFR_UAF3_MASK 0x00000004 /**< Use Acceptance Filter No.3 */
299 #define XCANPS_AFR_UAF2_MASK 0x00000002 /**< Use Acceptance Filter No.2 */
300 #define XCANPS_AFR_UAF1_MASK 0x00000001 /**< Use Acceptance Filter No.1 */
301 #define XCANPS_AFR_UAF_ALL_MASK (XCANPS_AFR_UAF4_MASK | \
302 XCANPS_AFR_UAF3_MASK | \
303 XCANPS_AFR_UAF2_MASK | \
304 XCANPS_AFR_UAF1_MASK)
307 /** @name CAN frame length constants
310 #define XCANPS_MAX_FRAME_SIZE 16 /**< Maximum CAN frame length in bytes */
313 /* For backwards compatibilty */
314 #define XCANPS_TXBUF_ID_OFFSET XCANPS_TXHPB_ID_OFFSET
315 #define XCANPS_TXBUF_DLC_OFFSET XCANPS_TXHPB_DLC_OFFSET
316 #define XCANPS_TXBUF_DW1_OFFSET XCANPS_TXHPB_DW1_OFFSET
317 #define XCANPS_TXBUF_DW2_OFFSET XCANPS_TXHPB_DW2_OFFSET
319 #define XCANPS_RXFWIR_RXFLL_MASK XCANPS_WIR_FW_MASK
320 #define XCANPS_RXWIR_OFFSET XCANPS_WIR_OFFSET
321 #define XCANPS_IXR_RXFLL_MASK XCANPS_IXR_RXFWMFLL_MASK
326 /**************************** Type Definitions *******************************/
328 /***************** Macros (Inline Functions) Definitions *********************/
330 /****************************************************************************/
333 * This macro reads the given register.
335 * @param BaseAddr is the base address of the device.
336 * @param RegOffset is the register offset to be read.
338 * @return The 32-bit value of the register
342 *****************************************************************************/
343 #define XCanPs_ReadReg(BaseAddr, RegOffset) \
344 Xil_In32((BaseAddr) + (RegOffset))
347 /****************************************************************************/
350 * This macro writes the given register.
352 * @param BaseAddr is the base address of the device.
353 * @param RegOffset is the register offset to be written.
354 * @param Data is the 32-bit value to write to the register.
360 *****************************************************************************/
361 #define XCanPs_WriteReg(BaseAddr, RegOffset, Data) \
362 Xil_Out32((BaseAddr) + (RegOffset), (Data))
364 /************************** Function Prototypes ******************************/
366 * Perform reset operation to the CanPs interface
368 void XCanPs_ResetHw(u32 BaseAddr);
374 #endif /* end of protection macro */