/******************************************************************************
*
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* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* Use of the Software is limited solely to applications:
* (a) running on a Xilinx device, or
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******************************************************************************/
/*****************************************************************************/
/**
*
* @file xcan_config.c
*
* Functions in this file are CAN Configuration Register access related.
*
* <pre>
* MODIFICATION HISTORY:
*
* Ver   Who  Date     Changes
* ----- ---- -------- -------------------------------------------------------
* 1.00a xd   04/12/05 First release
* 1.10a mta  05/13/07 Updated to new coding style
* 2.00a ktn  10/22/09 Updated to use the HAL APIs/macros.
*		      The macros have been renamed to remove _m from the name.
* </pre>
******************************************************************************/

/***************************** Include Files *********************************/

#include "xil_types.h"
#include "xil_assert.h"
#include "xcan.h"

/************************** Constant Definitions *****************************/

/**************************** Type Definitions *******************************/

/***************** Macros (Inline Functions) Definitions *********************/

/************************** Function Prototypes ******************************/


/*****************************************************************************/
/**
*
* This routine sets Baud Rate Prescaler value. The system clock for the CAN
* controller is divided by (Prescaler + 1) to generate the quantum clock
* needed for sampling and synchronization. Read the device specification
* for details.
*
* Baud Rate Prescaler could be set only after CAN device entered Configuration
* Mode. So please call XCan_EnterMode() to enter Configuration Mode before
* using this function.
*
* @param	InstancePtr is a pointer to the XCan instance to be worked on.
* @param	Prescaler is the value to set. Valid values are from 0 to 255.
*
* @return
*		- XST_SUCCESS if the Baud Rate Prescaler value is set
*		successfully.
*		- XST_FAILURE if CAN device is not in Configuration Mode.
*
* @note		None.
*
******************************************************************************/
int XCan_SetBaudRatePrescaler(XCan *InstancePtr, u8 Prescaler)
{
	Xil_AssertNonvoid(InstancePtr != NULL);
	Xil_AssertNonvoid(InstancePtr->IsReady == XIL_COMPONENT_IS_READY);

	/*
	 * Return error code if the device currently is NOT in Configuration
	 * Mode
	 */
	if (XCan_GetMode(InstancePtr) != XCAN_MODE_CONFIG) {
		return XST_FAILURE;
	}

	XCan_WriteReg(InstancePtr->BaseAddress, XCAN_BRPR_OFFSET,
			   (u32) Prescaler);

	return XST_SUCCESS;
}

/*****************************************************************************/
/**
*
* This routine gets Baud Rate Prescaler value. The system clock for the CAN
* controller is divided by (Prescaler + 1) to generate the quantum clock
* needed for sampling and synchronization. Read the device specification for
* details.
*
* @param	InstancePtr is a pointer to the XCan instance to be worked on.
*
* @return	Current used Baud Rate Prescaler value. The value's range is
*		from 0 to 255.
*
* @note		None.
*
******************************************************************************/
u8 XCan_GetBaudRatePrescaler(XCan *InstancePtr)
{
	u8 Result;

	Xil_AssertNonvoid(InstancePtr != NULL);
	Xil_AssertNonvoid(InstancePtr->IsReady == XIL_COMPONENT_IS_READY);

	Result = (u8) XCan_ReadReg(InstancePtr->BaseAddress, XCAN_BRPR_OFFSET);

	return Result;
}

/*****************************************************************************/
/**
*
* This routine sets Bit time. Time segment 1, Time segment 2 and
* Synchronization Jump Width are set in this function. Device specification
* requires the values passed into this function be one less than the actual
* values of these fields. Read the device specification for details.
*
* Bit time could be set only after CAN device entered Configuration Mode.
* Please call XCan_EnterMode() to enter Configuration Mode before using this
* function.
*
* @param	InstancePtr is a pointer to the XCan instance to be worked on.
* @param	SyncJumpWidth is the Synchronization Jump Width value to set.
*		Valid values are from 0 to 3.
* @param	TimeSegment2 is the Time Segment 2 value to set. Valid values
*		are from 0 to 7.
* @param	TimeSegment1 is the Time Segment 1 value to set. Valid values
*		are from 0 to 15.
*
* @return
*		- XST_SUCCESS if the Bit time is set successfully.
*		- XST_FAILURE if CAN device is not in Configuration Mode.
* 		- XST_INVALID_PARAM if any value of SyncJumpWidth, TimeSegment2
*		and TimeSegment1 is invalid.
*
* @note		None.
*
******************************************************************************/
int XCan_SetBitTiming(XCan *InstancePtr, u8 SyncJumpWidth,
			  u8 TimeSegment2, u8 TimeSegment1)
{
	u32 Value;

	Xil_AssertNonvoid(InstancePtr != NULL);
	Xil_AssertNonvoid(InstancePtr->IsReady == XIL_COMPONENT_IS_READY);
	if (SyncJumpWidth > 3 || TimeSegment2 > 7 || TimeSegment1 > 15) {
		return XST_INVALID_PARAM;
	}

	/* Return error code if the device is NOT in Configuration Mode */
	if (XCan_GetMode(InstancePtr) != XCAN_MODE_CONFIG) {
		return XST_FAILURE;
	}

	Value = ((u32) TimeSegment1) & XCAN_BTR_TS1_MASK;
	Value |= (((u32) TimeSegment2) << XCAN_BTR_TS2_SHIFT) &
		XCAN_BTR_TS2_MASK;
	Value |= (((u32) SyncJumpWidth) << XCAN_BTR_SJW_SHIFT) &
		XCAN_BTR_SJW_MASK;

	XCan_WriteReg(InstancePtr->BaseAddress, XCAN_BTR_OFFSET, Value);

	return XST_SUCCESS;
}

/*****************************************************************************/
/**
*
* This routine gets Bit time. Time segment 1, Time segment 2 and
* Synchronization Jump Width values are read in this function. According to
* device specification, the actual value of each of these fields is one
* more than the value read. Read the device specification for details.
*
* @param	InstancePtr is a pointer to the XCan instance to be worked on.
* @param	SyncJumpWidth will store the Synchronization Jump Width value
*		after this function returns. Its value ranges from 0 to 3.
* @param	TimeSegment2 will store the Time Segment 2 value after this
*		function returns. Its value ranges from 0 to 7.
* @param	TimeSegment1 will store the Time Segment 1 value after this
*		function returns. Its value ranges from 0 to 15.
*
* @return	None.
*
* @note		None.
*
******************************************************************************/
void XCan_GetBitTiming(XCan *InstancePtr, u8 *SyncJumpWidth,
			   u8 *TimeSegment2, u8 *TimeSegment1)
{
	u32 Value;

	Xil_AssertVoid(InstancePtr != NULL);
	Xil_AssertVoid(InstancePtr->IsReady == XIL_COMPONENT_IS_READY);

	Value = XCan_ReadReg(InstancePtr->BaseAddress, XCAN_BTR_OFFSET);

	*TimeSegment1 = (u8) (Value & XCAN_BTR_TS1_MASK);
	*TimeSegment2 =
		(u8) ((Value & XCAN_BTR_TS2_MASK) >> XCAN_BTR_TS2_SHIFT);
	*SyncJumpWidth =
		(u8) ((Value & XCAN_BTR_SJW_MASK) >> XCAN_BTR_SJW_SHIFT);
}