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#ifndef CYGONCE_CAN_AT91SAM7_H

#define CYGONCE_CAN_AT91SAM7_H

//==========================================================================

//

//      devs/can/arm/at91sam7x/current/include/can_at91sam7.inl

//

//      CAN message macros for Atmel AT91SAM7X CAN driver

//

//==========================================================================

// ####ECOSGPLCOPYRIGHTBEGIN####

// -------------------------------------------

// This file is part of eCos, the Embedded Configurable Operating System.

// Copyright (C) 1998, 1999, 2000, 2001, 2002, 2003 Free Software Foundation, Inc.

//

// eCos is free software; you can redistribute it and/or modify it under

// the terms of the GNU General Public License as published by the Free

// Software Foundation; either version 2 or (at your option) any later

// version.

//

// eCos is distributed in the hope that it will be useful, but WITHOUT

// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or

// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License

// for more details.

//

// You should have received a copy of the GNU General Public License

// along with eCos; if not, write to the Free Software Foundation, Inc.,

// 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.

//

// As a special exception, if other files instantiate templates or use

// macros or inline functions from this file, or you compile this file

// and link it with other works to produce a work based on this file,

// this file does not by itself cause the resulting work to be covered by

// the GNU General Public License. However the source code for this file

// must still be made available in accordance with section (3) of the GNU

// General Public License v2.

//

// This exception does not invalidate any other reasons why a work based

// on this file might be covered by the GNU General Public License.

// -------------------------------------------

// ####ECOSGPLCOPYRIGHTEND####

//==========================================================================

//#####DESCRIPTIONBEGIN####

//

// Author(s):    Uwe Kindler

// Contributors: Uwe Kindler

// Date:         2007-02-08

// Purpose:      Support AT91SAM7X on-chip CAN moduls

// Description:

//

//####DESCRIPTIONEND####

//

//==========================================================================

//==========================================================================

//                               INCLUDE

//==========================================================================

#include 

//==========================================================================

//                              DATA TYPES

//==========================================================================

//--------------------------------------------------------------------------

// We define our own CAN message data type here. This structure needs less

// memory than the common CAN message defined by IO layer. This is important

// because the AT91SAM7 contains only 64 KBytes RAM memory

//

typedef struct st_at91sam7_can_message

{

    cyg_can_msg_data data;// 8 data bytes

#ifdef CYGOPT_IO_CAN_EXT_CAN_ID

    cyg_uint32       id;  // also extended identifiers (29 Bit) are supported

    cyg_uint8        ctrl;// control stores extended flag, rtr flag and dlc

#else

    //

    // only standard identifiers are supported - we need only 11 bit of

    // the data word to store the identifier. So we have 5 bit left to store

    // the the rtr flag and the dlc flag. We do not need the IDE flag because

    // only standard identifiers are supported

    //

    cyg_uint16       id;

#endif

} at91sam7_can_message;

//--------------------------------------------------------------------------

// We also define an own event structure here to store the received events

// This event structure uses the device CAN message structure and

// 16 Bit value for timestamps

//

typedef struct st_at91sam7_can_event

{

    cyg_uint16           flags;

#ifdef CYGOPT_IO_CAN_SUPPORT_TIMESTAMP

    cyg_uint16           timestamp;

#endif

    at91sam7_can_message msg;

} at91sam7_can_event;

//==========================================================================

//                                DEFINES

//==========================================================================

#ifdef CYGOPT_IO_CAN_EXT_CAN_ID

//

// If we use extended identifier then we store the message parameters

// into control word

//

#define AT91SAM7_CAN_SET_DLC(_msg_, _dlc_)  ((_msg_).ctrl = (_dlc_)) // this also clears the ctrl

#define AT91SAM7_CAN_SET_EXT(_msg_)         ((_msg_).ctrl |= 0x01 << 4)

#define AT91SAM7_CAN_SET_RTR(_msg_)         ((_msg_).ctrl |= 0x01 << 5)

#define AT91SAM7_CAN_GET_DLC(_msg_)         ((_msg_).ctrl & 0x0F)

#define AT91SAM7_CAN_IS_EXT(_msg_)          ((((_msg_).ctrl >> 4) & 0x01) != 0)

#define AT91SAM7_CAN_IS_RTR(_msg_)          ((((_msg_).ctrl >> 5) & 0x01) != 0)

#define AT91SAM7_CAN_GET_ID(_msg_)          ((_msg_).id & CYG_CAN_EXT_ID_MASK)

#else // CYGOPT_IO_CAN_EXT_CAN_ID

//

// We use only standard identifiers and we can store the message parameters

// into the upper 5 bits of the 16 bit id field (only 11 bits are required for

// standard frames

//

#define AT91SAM7_CAN_SET_DLC(_msg_, _dlc_)  ((_msg_).id |= (_dlc_) << 11)

#define AT91SAM7_CAN_SET_EXT(_msg_)         // we do not need to support this flag - only std IDs supported

#define AT91SAM7_CAN_SET_RTR(_msg_)         ((_msg_).id |= 0x01 << 15)

#define AT91SAM7_CAN_GET_DLC(_msg_)         (((_msg_).id >> 11) & 0x0F)

#define AT91SAM7_CAN_IS_EXT(_msg_)          0 // we do not support extended identifiers so this is always false

#define AT91SAM7_CAN_IS_RTR(_msg_)          ((((_msg_).id >> 15) & 0x01) != 0)

#define AT91SAM7_CAN_GET_ID(_msg_)          ((_msg_).id & CYG_CAN_STD_ID_MASK)

#endif // CYGOPT_IO_CAN_EXT_CAN_ID

//---------------------------------------------------------------------------

// The foolowing macros are required for CAN devicedriver. We define our own

// CAN messaeg and event structures and therefore we also need to define the

// two message conversion macros that translate out message/event into the

// standard CAN message/event

//

#define CYG_CAN_MSG_T   at91sam7_can_message

#define CYG_CAN_EVENT_T at91sam7_can_event

//

// We need to copy the timestamp field only if timestamps are supported by

// driver

//

#ifdef CYGOPT_IO_CAN_SUPPORT_TIMESTAMP

#define CYG_CAN_READ_TIMESTAMP(_ioevent_ptr_, _devevent_ptr_) ((_ioevent_ptr_)->timestamp = (_devevent_ptr_)->timestamp)

#else

#define CYG_CAN_READ_TIMESTAMP(_ioevent_ptr_, _devevent_ptr_)

#endif

#define CYG_CAN_WRITE_MSG(_devmsg_ptr_, _iomsg_ptr_)                                         \

CYG_MACRO_START                                                                              \

    (_devmsg_ptr_)->data = (_iomsg_ptr_)->data;                                              \

    (_devmsg_ptr_)->id   = (_iomsg_ptr_)->id;                                                \

    AT91SAM7_CAN_SET_DLC(*(_devmsg_ptr_), (_iomsg_ptr_)->dlc);                               \

    if (CYGNUM_CAN_ID_EXT == (_iomsg_ptr_)->ext) {AT91SAM7_CAN_SET_EXT(*(_devmsg_ptr_));}    \

    if (CYGNUM_CAN_FRAME_RTR == (_iomsg_ptr_)->rtr) {AT91SAM7_CAN_SET_RTR(*(_devmsg_ptr_));} \

CYG_MACRO_END

#define CYG_CAN_READ_EVENT(_ioevent_ptr_, _devevent_ptr_)                     \

CYG_MACRO_START                                                               \

    (_ioevent_ptr_)->flags    = (_devevent_ptr_)->flags;                      \

    (_ioevent_ptr_)->msg.data = (_devevent_ptr_)->msg.data;                   \

    (_ioevent_ptr_)->msg.id   = AT91SAM7_CAN_GET_ID((_devevent_ptr_)->msg);   \

    (_ioevent_ptr_)->msg.dlc  = AT91SAM7_CAN_GET_DLC((_devevent_ptr_)->msg);  \

    if (AT91SAM7_CAN_IS_EXT((_devevent_ptr_)->msg))  {                        \

        (_ioevent_ptr_)->msg.ext = CYGNUM_CAN_ID_EXT; }                       \

    else {                                                                    \

        (_ioevent_ptr_)->msg.ext = CYGNUM_CAN_ID_STD; }                       \

    if (AT91SAM7_CAN_IS_RTR((_devevent_ptr_)->msg))  {                        \

        (_ioevent_ptr_)->msg.rtr = CYGNUM_CAN_FRAME_RTR; }                    \

    else {                                                                    \

        (_ioevent_ptr_)->msg.rtr = CYGNUM_CAN_FRAME_DATA; }                   \

    CYG_CAN_READ_TIMESTAMP(_ioevent_ptr_, _devevent_ptr_);                    \

CYG_MACRO_END

//---------------------------------------------------------------------------

#endif // CYGONCE_CAN_AT91SAM7_H