[SAM] updating libsam and CAN files

Author: aethaniel

hardware/arduino/sam/libraries/CAN/CAN.cpp

@@ -0,0 +1,129 @@
+#include "CAN.h"
+#include "sn65hvd234.h"
+
+/*----------------------------------------------------------------------------
+ *        Variables
+ *----------------------------------------------------------------------------*/
+
+/* CAN0 Transceiver */
+SSN65HVD234_Data gCanTransceiver0 ;
+/* CAN1 Transceiver */
+SSN65HVD234_Data gCanTransceiver1 ;
+
+/* CAN0 Transfer */
+SCanTransfer gCanTransfer0 ;
+/* CAN1 Transfer */
+SCanTransfer gCanTransfer1 ;
+
+/*----------------------------------------------------------------------------
+ *        Local functions
+ *----------------------------------------------------------------------------*/
+
+uint32_t CAN_InitShieldHardware( uint32_t )
+{
+  // Initialize CAN0 pins
+  PIO_Configure(
+    g_APinDescription[PINS_CAN0].pPort,
+    g_APinDescription[PINS_CAN0].ulPinType,
+    g_APinDescription[PINS_CAN0].ulPin,
+    g_APinDescription[PINS_CAN0].ulPinConfiguration);
+
+  /* Initialize CAN0 Transceiver */
+  SN65HVD234_Init( &gCanTransceiver0 ) ;
+  SN65HVD234_SetRs( &gCanTransceiver0, PIOB, PIO_PB20 ) ;
+  SN65HVD234_SetEN( &gCanTransceiver0, PIOB, PIO_PB21 ) ;
+  /* Enable CAN0 Transceiver */
+  SN65HVD234_DisableLowPower( &gCanTransceiver0 ) ;
+  SN65HVD234_Enable( &gCanTransceiver0 ) ;
+
+  // Initialize CAN1 pins
+  PIO_Configure(
+    g_APinDescription[PINS_CAN1].pPort,
+    g_APinDescription[PINS_CAN1].ulPinType,
+    g_APinDescription[PINS_CAN1].ulPin,
+    g_APinDescription[PINS_CAN1].ulPinConfiguration);
+
+  /* Initialize CAN1 Transceiver */
+  SN65HVD234_Init( &gCanTransceiver1 ) ;
+  SN65HVD234_SetRs( &gCanTransceiver1, PIOE, PIO_PB15 ) ;
+  SN65HVD234_SetEN( &gCanTransceiver1, PIOE, PIO_PB16 ) ;
+  /* Enable CAN1 Transceiver */
+  SN65HVD234_DisableLowPower( &gCanTransceiver1 ) ;
+  SN65HVD234_Enable( &gCanTransceiver1 ) ;
+}
+
+uint32_t CAN_DeInitShieldHardware( uint32_t )
+{
+}
+
+
+/*----------------------------------------------------------------------------
+ *        Exported functions
+ *----------------------------------------------------------------------------*/
+
+/**
+ * \brief Default interrupt handler for CAN 0.
+ */
+void CAN0_IrqHandler( void )
+{
+  CAN_Handler( CAN0, &gCanTransfer0 ) ;
+}
+
+/**
+ * \brief Default interrupt handler for CAN 1.
+ */
+void CAN1_IrqHandler( void )
+{
+  CAN_Handler( CAN1, &gCanTransfer1 ) ;
+}
+
+
+/**
+ *  main function
+ */
+extern int main( void )
+{
+
+    if ( ( CAN_Init( CAN0, BOARD_MCK, 1000, &gCanTransfer0 ) == 1 ) &&
+         ( CAN_Init( CAN1, BOARD_MCK, 1000, &gCanTransfer1 ) == 1 ) )
+    {
+        puts( "CAN initialization complete."STRING_EOL ) ;
+
+        /* Run tests */
+        puts( "Press any key to start test"STRING_EOL ) ;
+        UART_GetChar() ;
+        _Test1() ;
+
+        puts( "Press any key to continue..."STRING_EOL ) ;
+        UART_GetChar() ;
+        _Test2() ;
+
+        puts( "Press any key to continue..."STRING_EOL ) ;
+        UART_GetChar() ;
+        _Test3() ;
+
+        puts( "Press any key to continue..."STRING_EOL ) ;
+        UART_GetChar() ;
+        _Test4() ;
+
+        /* Disable CAN0 Controller */
+        CAN_Disable(CAN0) ;
+        /* Disable CAN0 Transceiver */
+        SN65HVD234_EnableLowPower( &gCanTransceiver0 ) ;
+        SN65HVD234_Disable( &gCanTransceiver0 ) ;
+
+        /* Disable CAN1 Controller */
+        CAN_Disable(CAN1) ;
+        /* Disable CAN1 Transceiver */
+        SN65HVD234_EnableLowPower( &gCanTransceiver1 ) ;
+        SN65HVD234_Disable( &gCanTransceiver1 ) ;
+
+        puts( "End of all test"STRING_EOL ) ;
+    }
+    else
+    {
+        puts( "ERROR CAN initialisation (synchro)"STRING_EOL ) ;
+    }
+
+    return 0 ;
+}

hardware/arduino/sam/libraries/CAN/CAN.h

@@ -52,6 +52,7 @@
 #include "include/pio.h"
 #include "include/pmc.h"
 #include "include/pwmc.h"
+#include "include/rstc.h"
 #include "include/rtc.h"
 #include "include/rtt.h"
 #include "include/spi.h"
@@ -67,7 +68,7 @@
 
 #if (SAM3XA_SERIES)
 #include "include/can.h"
-//#include "include/emac.h"
+#include "include/emac.h"
 #include "include/trng.h"
 #include "include/uotghs_device.h"
 #include "include/uotghs_host.h"

hardware/arduino/sam/system/libsam/chip.h

@@ -116,33 +116,54 @@ typedef struct {
  */
 
 uint32_t can_init(Can *p_can, uint32_t ul_mck, uint32_t ul_baudrate);
+
 void can_enable(Can *p_can);
 void can_disable(Can *p_can);
+
 void can_disable_low_power_mode(Can *p_can);
 void can_enable_low_power_mode(Can *p_can);
+
 void can_disable_autobaud_listen_mode(Can *p_can);
 void can_enable_autobaud_listen_mode(Can *p_can);
+
 void can_disable_overload_frame(Can *p_can);
 void can_enable_overload_frame(Can *p_can);
+
 void can_set_timestamp_capture_point(Can *p_can, uint32_t ul_flag);
+
 void can_disable_time_triggered_mode(Can *p_can);
 void can_enable_time_triggered_mode(Can *p_can);
+
 void can_disable_timer_freeze(Can *p_can);
 void can_enable_timer_freeze(Can *p_can);
+
 void can_disable_tx_repeat(Can *p_can);
 void can_enable_tx_repeat(Can *p_can);
+
 void can_set_rx_sync_stage(Can *p_can, uint32_t ul_stage);
+
 void can_enable_interrupt(Can *p_can, uint32_t dw_mask);
 void can_disable_interrupt(Can *p_can, uint32_t dw_mask);
+
 uint32_t can_get_interrupt_mask(Can *p_can);
+
 uint32_t can_get_status(Can *p_can);
+
 uint32_t can_get_internal_timer_value(Can *p_can);
+
 uint32_t can_get_timestamp_value(Can *p_can);
+
 uint8_t can_get_tx_error_cnt(Can *p_can);
 uint8_t can_get_rx_error_cnt(Can *p_can);
+
 void can_reset_internal_timer(Can *p_can);
+
 void can_global_send_transfer_cmd(Can *p_can, uint8_t uc_mask);
 void can_global_send_abort_cmd(Can *p_can, uint8_t uc_mask);
+
+/*
+ * Mailbox functions
+ */
 void can_mailbox_set_timemark(Can *p_can, uint8_t uc_index, uint16_t us_cnt);
 uint32_t can_mailbox_get_status(Can *p_can, uint8_t uc_index);
 void can_mailbox_send_transfer_cmd(Can *p_can, uint8_t uc_index);
@@ -154,7 +175,7 @@ uint32_t can_mailbox_tx_remote_frame(Can *p_can, can_mb_conf_t *p_mailbox);
 void can_reset_all_mailbox(Can *p_can);
 
 // from wilfredo
-void reset_mailbox_conf(can_mb_conf_t *p_mailbox);
+uint32_t can_reset_mailbox_data(can_mb_conf_t *p_mailbox);
 
 /** @} */
 

hardware/arduino/sam/system/libsam/include/can.h

@@ -0,0 +1,78 @@
+/**
+ * \file
+ *
+ * \brief Reset Controller (RSTC) driver for SAM.
+ *
+ * Copyright (c) 2011-2012 Atmel Corporation. All rights reserved.
+ *
+ * \asf_license_start
+ *
+ * \page License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ *    this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ *
+ * 3. The name of Atmel may not be used to endorse or promote products derived
+ *    from this software without specific prior written permission.
+ *
+ * 4. This software may only be redistributed and used in connection with an
+ *    Atmel microcontroller product.
+ *
+ * THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR IMPLIED
+ * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT ARE
+ * EXPRESSLY AND SPECIFICALLY DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR
+ * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+ * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \asf_license_stop
+ *
+ */
+
+#ifndef RSTC_H_INCLUDED
+#define RSTC_H_INCLUDED
+
+#include "../chip.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/** Definitions of Reset Controller Status */
+/** Reset cause */
+#define RSTC_GENERAL_RESET   (0 << RSTC_SR_RSTTYP_Pos)
+#define RSTC_BACKUP_RESET    (1 << RSTC_SR_RSTTYP_Pos)
+#define RSTC_WATCHDOG_RESET  (2 << RSTC_SR_RSTTYP_Pos)
+#define RSTC_SOFTWARE_RESET  (3 << RSTC_SR_RSTTYP_Pos)
+#define RSTC_USER_RESET      (4 << RSTC_SR_RSTTYP_Pos)
+/** NRST Pin Level */
+#define RSTC_NRST_LOW   (LOW << 16)
+#define RSTC_NRST_HIGH  (HIGH << 16)
+
+void rstc_set_external_reset(Rstc* p_rstc, const uint32_t ul_length);
+void rstc_enable_user_reset(Rstc* p_rstc);
+void rstc_disable_user_reset(Rstc* p_rstc);
+void rstc_enable_user_reset_interrupt(Rstc* p_rstc);
+void rstc_disable_user_reset_interrupt(Rstc* p_rstc);
+void rstc_start_software_reset(Rstc* p_rstc);
+void rstc_reset_extern(Rstc *p_rstc);
+uint32_t rstc_get_status(Rstc* p_rstc);
+uint32_t rstc_get_reset_cause(Rstc* p_rstc);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* RSTC_H_INCLUDED */

hardware/arduino/sam/system/libsam/include/rstc.h

@@ -42,6 +42,7 @@
  */
 
 #include "../chip.h"
+#include <string.h>
 
 /// @cond 0
 /**INDENT-OFF**/
@@ -765,8 +766,14 @@ void can_reset_all_mailbox(Can *p_can)
 }
 
 // from wilfredo
-void reset_mailbox_conf(can_mb_conf_t *p_mailbox)
+uint32_t can_reset_mailbox_data(can_mb_conf_t *p_mailbox)
 {
+   if ( p_mailbox == NULL )
+   {
+     return 1U ;
+   }
+
+#if 0
 	p_mailbox->ul_mb_idx = 0;
 	p_mailbox->uc_obj_type = 0;
 	p_mailbox->uc_id_ver = 0;
@@ -778,6 +785,11 @@ void reset_mailbox_conf(can_mb_conf_t *p_mailbox)
 	p_mailbox->ul_fid = 0;
 	p_mailbox->ul_datal = 0;
 	p_mailbox->ul_datah = 0;
+#else
+  memset( p_mailbox, 0, sizeof( can_mb_conf_t ) ) ;
+#endif
+
+  return 0U ;
 }
 
 #endif // SAM3XA_SERIES

hardware/arduino/sam/system/libsam/source/can.c

@@ -42,7 +42,7 @@
  */
 
 #include "../chip.h"
-//#include <string.h>
+#include <string.h>
 
 /// @cond 0
 /**INDENT-OFF**/
@@ -69,6 +69,11 @@ extern "C" {
  * @{
  */
 
+#define EMAC_RX_BUFFERS                               16
+#define EMAC_TX_BUFFERS                               8
+#define MAC_PHY_RETRY_MAX                             1000000
+
+
 /** TX descriptor lists */
 #ifdef __ICCARM__ /* IAR */
 #pragma data_alignment=8
@@ -283,9 +288,9 @@ static uint8_t emac_init_mem(Emac* p_emac, emac_device_t* p_emac_dev,
 	emac_reset_tx_mem(p_emac_dev);
 
 	/* Enable Rx and Tx, plus the statistics register */
-	emac_enable_transmit(p_emac, true);
-	emac_enable_receive(p_emac, true);
-	emac_enable_statistics_write(p_emac, true);
+	emac_enable_transmit(p_emac, 1);
+	emac_enable_receive(p_emac, 1);
+	emac_enable_statistics_write(p_emac, 1);
 
 	/* Set up the interrupts for transmission and errors */
 	emac_enable_interrupt(p_emac,