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31 ******************************************************************************/
32 /*****************************************************************************/
36 * @addtogroup canps_v2_0
39 * This file contains functions related to CAN interrupt handling.
42 * MODIFICATION HISTORY:
44 * Ver Who Date Changes
45 * ----- ----- -------- -----------------------------------------------
46 * 1.00a xd/sv 01/12/10 First release
49 ******************************************************************************/
51 /***************************** Include Files *********************************/
55 /************************** Constant Definitions *****************************/
57 /**************************** Type Definitions *******************************/
59 /***************** Macros (Inline Functions) Definitions *********************/
61 /************************** Variable Definitions *****************************/
63 /************************** Function Prototypes ******************************/
65 /****************************************************************************/
68 * This routine enables interrupt(s). Use the XCANPS_IXR_* constants defined in
69 * xcanps_hw.h to create the bit-mask to enable interrupts.
71 * @param InstancePtr is a pointer to the XCanPs instance.
72 * @param Mask is the mask to enable. Bit positions of 1 will be enabled.
73 * Bit positions of 0 will keep the previous setting. This mask is
74 * formed by OR'ing XCANPS_IXR_* bits defined in xcanps_hw.h.
80 *****************************************************************************/
81 void XCanPs_IntrEnable(XCanPs *InstancePtr, u32 Mask)
85 Xil_AssertVoid(InstancePtr != NULL);
86 Xil_AssertVoid(InstancePtr->IsReady == XIL_COMPONENT_IS_READY);
89 * Write to the IER to enable the specified interrupts.
91 IntrValue = XCanPs_IntrGetEnabled(InstancePtr);
92 IntrValue |= Mask & XCANPS_IXR_ALL;
93 XCanPs_WriteReg(InstancePtr->CanConfig.BaseAddr,
94 XCANPS_IER_OFFSET, IntrValue);
97 /****************************************************************************/
100 * This routine disables interrupt(s). Use the XCANPS_IXR_* constants defined in
101 * xcanps_hw.h to create the bit-mask to disable interrupt(s).
103 * @param InstancePtr is a pointer to the XCanPs instance.
104 * @param Mask is the mask to disable. Bit positions of 1 will be
105 * disabled. Bit positions of 0 will keep the previous setting.
106 * This mask is formed by OR'ing XCANPS_IXR_* bits defined in
113 *****************************************************************************/
114 void XCanPs_IntrDisable(XCanPs *InstancePtr, u32 Mask)
118 Xil_AssertVoid(InstancePtr != NULL);
119 Xil_AssertVoid(InstancePtr->IsReady == XIL_COMPONENT_IS_READY);
122 * Write to the IER to disable the specified interrupts.
124 IntrValue = XCanPs_IntrGetEnabled(InstancePtr);
126 XCanPs_WriteReg(InstancePtr->CanConfig.BaseAddr,
127 XCANPS_IER_OFFSET, IntrValue);
130 /****************************************************************************/
133 * This routine returns enabled interrupt(s). Use the XCANPS_IXR_* constants
134 * defined in xcanps_hw.h to interpret the returned value.
136 * @param InstancePtr is a pointer to the XCanPs instance.
138 * @return Enabled interrupt(s) in a 32-bit format.
142 *****************************************************************************/
143 u32 XCanPs_IntrGetEnabled(XCanPs *InstancePtr)
146 Xil_AssertNonvoid(InstancePtr != NULL);
147 Xil_AssertNonvoid(InstancePtr->IsReady == XIL_COMPONENT_IS_READY);
149 return XCanPs_ReadReg(InstancePtr->CanConfig.BaseAddr,
154 /****************************************************************************/
157 * This routine returns interrupt status read from Interrupt Status Register.
158 * Use the XCANPS_IXR_* constants defined in xcanps_hw.h to interpret the
161 * @param InstancePtr is a pointer to the XCanPs instance.
163 * @return The value stored in Interrupt Status Register.
167 *****************************************************************************/
168 u32 XCanPs_IntrGetStatus(XCanPs *InstancePtr)
170 Xil_AssertNonvoid(InstancePtr != NULL);
171 Xil_AssertNonvoid(InstancePtr->IsReady == XIL_COMPONENT_IS_READY);
173 return XCanPs_ReadReg(InstancePtr->CanConfig.BaseAddr,
177 /****************************************************************************/
180 * This function clears interrupt(s). Every bit set in Interrupt Status
181 * Register indicates that a specific type of interrupt is occurring, and this
182 * function clears one or more interrupts by writing a bit mask to Interrupt
185 * @param InstancePtr is a pointer to the XCanPs instance.
186 * @param Mask is the mask to clear. Bit positions of 1 will be cleared.
187 * Bit positions of 0 will not change the previous interrupt
188 * status. This mask is formed by OR'ing XCANPS_IXR_* bits defined
193 *****************************************************************************/
194 void XCanPs_IntrClear(XCanPs *InstancePtr, u32 Mask)
198 Xil_AssertVoid(InstancePtr != NULL);
199 Xil_AssertVoid(InstancePtr->IsReady == XIL_COMPONENT_IS_READY);
202 * Clear the currently pending interrupts.
204 IntrValue = XCanPs_IntrGetStatus(InstancePtr);
206 XCanPs_WriteReg(InstancePtr->CanConfig.BaseAddr, XCANPS_ICR_OFFSET,
210 /*****************************************************************************/
213 * This routine is the interrupt handler for the CAN driver.
215 * This handler reads the interrupt status from the ISR, determines the source of
216 * the interrupts, calls according callbacks, and finally clears the interrupts.
218 * Application beyond this driver is responsible for providing callbacks to
219 * handle interrupts and installing the callbacks using XCanPs_SetHandler()
220 * during initialization phase. An example delivered with this driver
221 * demonstrates how this could be done.
223 * @param InstancePtr is a pointer to the XCanPs instance that just
230 ******************************************************************************/
231 void XCanPs_IntrHandler(void *InstancePtr)
236 XCanPs *CanPtr = (XCanPs *) InstancePtr;
238 Xil_AssertVoid(CanPtr != NULL);
239 Xil_AssertVoid(CanPtr->IsReady == XIL_COMPONENT_IS_READY);
241 PendingIntr = XCanPs_IntrGetStatus(CanPtr);
242 PendingIntr &= XCanPs_IntrGetEnabled(CanPtr);
245 * Clear all pending interrupts.
246 * Rising Edge interrupt
248 XCanPs_IntrClear(CanPtr, PendingIntr);
251 * An error interrupt is occurring.
253 if ((PendingIntr & XCANPS_IXR_ERROR_MASK)) {
254 ErrorStatus = XCanPs_GetBusErrorStatus(CanPtr);
255 CanPtr->ErrorHandler(CanPtr->ErrorRef, ErrorStatus);
258 * Clear Error Status Register.
260 XCanPs_ClearBusErrorStatus(CanPtr, ErrorStatus);
264 * Check if any following event interrupt is pending:
266 * - RX FIFO Underflow
267 * - TX High Priority Buffer full
269 * - Wake up from sleep mode
271 * - Enter Bus off status
272 * - Arbitration is lost
274 * If so, call event callback provided by upper level.
276 EventIntr = PendingIntr & (XCANPS_IXR_RXOFLW_MASK |
277 XCANPS_IXR_RXUFLW_MASK |
278 XCANPS_IXR_TXBFLL_MASK |
279 XCANPS_IXR_TXFLL_MASK |
280 XCANPS_IXR_WKUP_MASK |
281 XCANPS_IXR_SLP_MASK |
282 XCANPS_IXR_BSOFF_MASK |
283 XCANPS_IXR_ARBLST_MASK);
285 CanPtr->EventHandler(CanPtr->EventRef, EventIntr);
287 if ((EventIntr & XCANPS_IXR_BSOFF_MASK)) {
289 * Event callback should reset whole device if "Enter
290 * Bus Off Status" interrupt occurred. All pending
291 * interrupts are cleared and no further checking and
292 * handling of other interrupts is needed any more.
299 if ((PendingIntr & (XCANPS_IXR_RXFWMFLL_MASK |
300 XCANPS_IXR_RXNEMP_MASK))) {
303 * This case happens when
304 * A number of frames depending on the Rx FIFO Watermark
305 * threshold are received.
306 * And also when frame was received and is sitting in RX FIFO.
308 * XCANPS_IXR_RXOK_MASK is not used because the bit is set
309 * just once even if there are multiple frames sitting
312 * XCANPS_IXR_RXNEMP_MASK is used because the bit can be
313 * set again and again automatically as long as there is
314 * at least one frame in RX FIFO.
316 CanPtr->RecvHandler(CanPtr->RecvRef);
320 * A frame was transmitted successfully.
322 if ((PendingIntr & XCANPS_IXR_TXOK_MASK)) {
323 CanPtr->SendHandler(CanPtr->SendRef);
328 /*****************************************************************************/
331 * This routine installs an asynchronous callback function for the given
335 * HandlerType Callback Function Type
336 * ----------------------- ------------------------
337 * XCANPS_HANDLER_SEND XCanPs_SendRecvHandler
338 * XCANPS_HANDLER_RECV XCanPs_SendRecvHandler
339 * XCANPS_HANDLER_ERROR XCanPs_ErrorHandler
340 * XCANPS_HANDLER_EVENT XCanPs_EventHandler
342 * HandlerType Invoked by this driver when:
343 * -------------------------------------------------------------------------
344 * XCANPS_HANDLER_SEND A frame transmitted by a call to
345 * XCanPs_Send() has been sent successfully.
347 * XCANPS_HANDLER_RECV A frame(s) has been received and is sitting in
350 * XCANPS_HANDLER_ERROR An error interrupt is occurring.
352 * XCANPS_HANDLER_EVENT Any other kind of interrupt is occurring.
355 * @param InstancePtr is a pointer to the XCanPs instance.
356 * @param HandlerType specifies which handler is to be attached.
357 * @param CallBackFunc is the address of the callback function.
358 * @param CallBackRef is a user data item that will be passed to the
359 * callback function when it is invoked.
362 * - XST_SUCCESS when handler is installed.
363 * - XST_INVALID_PARAM when HandlerType is invalid.
366 * Invoking this function for a handler that already has been installed replaces
367 * it with the new handler.
369 ******************************************************************************/
370 int XCanPs_SetHandler(XCanPs *InstancePtr, u32 HandlerType,
371 void *CallBackFunc, void *CallBackRef)
373 Xil_AssertNonvoid(InstancePtr != NULL);
374 Xil_AssertNonvoid(InstancePtr->IsReady == XIL_COMPONENT_IS_READY);
376 switch (HandlerType) {
377 case XCANPS_HANDLER_SEND:
378 InstancePtr->SendHandler =
379 (XCanPs_SendRecvHandler) CallBackFunc;
380 InstancePtr->SendRef = CallBackRef;
383 case XCANPS_HANDLER_RECV:
384 InstancePtr->RecvHandler =
385 (XCanPs_SendRecvHandler) CallBackFunc;
386 InstancePtr->RecvRef = CallBackRef;
389 case XCANPS_HANDLER_ERROR:
390 InstancePtr->ErrorHandler = (XCanPs_ErrorHandler) CallBackFunc;
391 InstancePtr->ErrorRef = CallBackRef;
394 case XCANPS_HANDLER_EVENT:
395 InstancePtr->EventHandler = (XCanPs_EventHandler) CallBackFunc;
396 InstancePtr->EventRef = CallBackRef;
400 return (XST_INVALID_PARAM);
403 return (XST_SUCCESS);