rt-thread/bsp/lpc54608-LPCXpresso/SDK_2.2_LPCXpresso54608/devices/LPC54608/drivers/fsl_mcan.c

/*
 * Copyright (c) 2016, Freescale Semiconductor, Inc.
 * Copyright 2016-2017 NXP
 *
 * Redistribution and use in source and binary forms, with or without modification,
 * are permitted provided that the following conditions are met:
 *
 * o Redistributions of source code must retain the above copyright notice, this list
 *   of conditions and the following disclaimer.
 *
 * o 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.
 *
 * o Neither the name of the copyright holder nor the names of its
 *   contributors may be used to endorse or promote products derived from this
 *   software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS 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.
 */

#include "fsl_mcan.h"

/*******************************************************************************
 * Definitons
 ******************************************************************************/

#define MCAN_TIME_QUANTA_NUM (16U)

/*! @brief MCAN Internal State. */
enum _mcan_state
{
    kMCAN_StateIdle = 0x0,     /*!< MB/RxFIFO idle.*/
    kMCAN_StateRxData = 0x1,   /*!< MB receiving.*/
    kMCAN_StateRxRemote = 0x2, /*!< MB receiving remote reply.*/
    kMCAN_StateTxData = 0x3,   /*!< MB transmitting.*/
    kMCAN_StateTxRemote = 0x4, /*!< MB transmitting remote request.*/
    kMCAN_StateRxFifo = 0x5,   /*!< RxFIFO receiving.*/
};

/* Typedef for interrupt handler. */
typedef void (*mcan_isr_t)(CAN_Type *base, mcan_handle_t *handle);

/*******************************************************************************
 * Prototypes
 ******************************************************************************/

/*!
 * @brief Get the MCAN instance from peripheral base address.
 *
 * @param base MCAN peripheral base address.
 * @return MCAN instance.
 */
uint32_t MCAN_GetInstance(CAN_Type *base);

/*!
 * @brief Reset the MCAN instance.
 *
 * @param base MCAN peripheral base address.
 */
static void MCAN_Reset(CAN_Type *base);

/*!
 * @brief Set Baud Rate of MCAN.
 *
 * This function set the baud rate of MCAN.
 *
 * @param base MCAN peripheral base address.
 * @param sourceClock_Hz Source Clock in Hz.
 * @param baudRate_Bps Baud Rate in Bps.
 */
static void MCAN_SetBaudRate(CAN_Type *base, uint32_t sourceClock_Hz, uint32_t baudRateA_Bps);

#if (defined(FSL_FEATURE_CAN_SUPPORT_CANFD) && FSL_FEATURE_CAN_SUPPORT_CANFD)
/*!
 * @brief Set Baud Rate of MCAN FD.
 *
 * This function set the baud rate of MCAN FD.
 *
 * @param base MCAN peripheral base address.
 * @param sourceClock_Hz Source Clock in Hz.
 * @param baudRateD_Bps Baud Rate in Bps.
 */
static void MCAN_SetBaudRateFD(CAN_Type *base, uint32_t sourceClock_Hz, uint32_t baudRateD_Bps);
#endif /* FSL_FEATURE_CAN_SUPPORT_CANFD */

/*!
 * @brief Get the element's address when read receive fifo 0.
 *
 * @param base MCAN peripheral base address.
 * @return Address of the element in receive fifo 0.
 */
static uint32_t MCAN_GetRxFifo0ElementAddress(CAN_Type *base);

/*!
 * @brief Get the element's address when read receive fifo 1.
 *
 * @param base MCAN peripheral base address.
 * @return Address of the element in receive fifo 1.
 */
static uint32_t MCAN_GetRxFifo1ElementAddress(CAN_Type *base);

/*!
 * @brief Get the element's address when read receive buffer.
 *
 * @param base MCAN peripheral base address.
 * @param idx Number of the erceive buffer element.
 * @return Address of the element in receive buffer.
 */
static uint32_t MCAN_GetRxBufferElementAddress(CAN_Type *base, uint8_t idx);

/*!
 * @brief Get the element's address when read transmit buffer.
 *
 * @param base MCAN peripheral base address.
 * @param idx Number of the transmit buffer element.
 * @return Address of the element in transmit buffer.
 */
static uint32_t MCAN_GetTxBufferElementAddress(CAN_Type *base, uint8_t idx);

/*******************************************************************************
 * Variables
 ******************************************************************************/
/* Array of MCAN handle. */
static mcan_handle_t *s_mcanHandle[FSL_FEATURE_SOC_LPC_CAN_COUNT];

/* Array of MCAN peripheral base address. */
static CAN_Type *const s_mcanBases[] = CAN_BASE_PTRS;

/* Array of MCAN IRQ number. */
static const IRQn_Type s_mcanIRQ[][2] = CAN_IRQS;

#if !(defined(FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL) && FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL)
/* Array of MCAN clock name. */
static const clock_ip_name_t s_mcanClock[] = MCAN_CLOCKS;
#endif /* FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL */

/* MCAN ISR for transactional APIs. */
static mcan_isr_t s_mcanIsr;

/*******************************************************************************
 * Code
 ******************************************************************************/

uint32_t MCAN_GetInstance(CAN_Type *base)
{
    uint32_t instance;

    /* Find the instance index from base address mappings. */
    for (instance = 0; instance < ARRAY_SIZE(s_mcanBases); instance++)
    {
        if (s_mcanBases[instance] == base)
        {
            break;
        }
    }

    assert(instance < ARRAY_SIZE(s_mcanBases));

    return instance;
}

static void MCAN_Reset(CAN_Type *base)
{
    /* Set INIT bit. */
    base->CCCR |= CAN_CCCR_INIT_MASK;
    /* Confirm the value has been accepted. */
    while (!((base->CCCR & CAN_CCCR_INIT_MASK) >> CAN_CCCR_INIT_SHIFT))
    {
    }

    /* Set CCE bit to have access to the protected configuration registers,
       and clear some status registers. */
    base->CCCR |= CAN_CCCR_CCE_MASK;
}

static void MCAN_SetBaudRate(CAN_Type *base, uint32_t sourceClock_Hz, uint32_t baudRateA_Bps)
{
    mcan_timing_config_t timingConfigA;
    uint32_t preDivA = baudRateA_Bps * MCAN_TIME_QUANTA_NUM;

    if (0 == preDivA)
    {
        preDivA = 1U;
    }

    preDivA = (sourceClock_Hz / preDivA) - 1U;

    /* Desired baud rate is too low. */
    if (preDivA > 0x1FFU)
    {
        preDivA = 0x1FFU;
    }

    /* MCAN timing setting formula:
     * MCAN_TIME_QUANTA_NUM = 1 + (xTSEG1 + 1) + (xTSEG2 + 1));
     */
    timingConfigA.preDivider = preDivA;
    timingConfigA.seg1 = 0xAU;
    timingConfigA.seg2 = 0x3U;
    timingConfigA.rJumpwidth = 0x3U;

    /* Update actual timing characteristic. */
    MCAN_SetArbitrationTimingConfig(base, &timingConfigA);
}

#if (defined(FSL_FEATURE_CAN_SUPPORT_CANFD) && FSL_FEATURE_CAN_SUPPORT_CANFD)
static void MCAN_SetBaudRateFD(CAN_Type *base, uint32_t sourceClock_Hz, uint32_t baudRateD_Bps)
{
    mcan_timing_config_t timingConfigD;
    uint32_t preDivD = baudRateD_Bps * MCAN_TIME_QUANTA_NUM;

    if (0 == preDivD)
    {
        preDivD = 1U;
    }

    preDivD = (sourceClock_Hz / preDivD) - 1U;

    /* Desired baud rate is too low. */
    if (preDivD > 0x1FU)
    {
        preDivD = 0x1FU;
    }

    /* MCAN timing setting formula:
     * MCAN_TIME_QUANTA_NUM = 1 + (xTSEG1 + 1) + (xTSEG2 + 1));
     */
    timingConfigD.preDivider = preDivD;
    timingConfigD.seg1 = 0xAU;
    timingConfigD.seg2 = 0x3U;
    timingConfigD.rJumpwidth = 0x3U;

    /* Update actual timing characteristic. */
    MCAN_SetDataTimingConfig(base, &timingConfigD);
}
#endif

void MCAN_Init(CAN_Type *base, const mcan_config_t *config, uint32_t sourceClock_Hz)
{
#if !(defined(FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL) && FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL)
    /* Enable MCAN clock. */
    CLOCK_EnableClock(s_mcanClock[MCAN_GetInstance(base)]);
#endif /* FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL */

    MCAN_Reset(base);

    if (config->enableLoopBackInt)
    {
        base->CCCR |= CAN_CCCR_TEST_MASK | CAN_CCCR_MON_MASK;
        base->TEST |= CAN_TEST_LBCK_MASK;
    }
    if (config->enableLoopBackExt)
    {
        base->CCCR |= CAN_CCCR_TEST_MASK;
        base->TEST |= CAN_TEST_LBCK_MASK;
    }
    if (config->enableBusMon)
    {
        base->CCCR |= CAN_CCCR_MON_MASK;
    }
#if (defined(FSL_FEATURE_CAN_SUPPORT_CANFD) && FSL_FEATURE_CAN_SUPPORT_CANFD)
    if (config->enableCanfdNormal)
    {
        base->CCCR |= CAN_CCCR_FDOE_MASK;
    }
    if (config->enableCanfdSwitch)
    {
        base->CCCR |= CAN_CCCR_FDOE_MASK | CAN_CCCR_BRSE_MASK;
    }
#endif

    /* Set baud rate of arbitration and data phase. */
    MCAN_SetBaudRate(base, sourceClock_Hz, config->baudRateA);
#if (defined(FSL_FEATURE_CAN_SUPPORT_CANFD) && FSL_FEATURE_CAN_SUPPORT_CANFD)
    MCAN_SetBaudRateFD(base, sourceClock_Hz, config->baudRateD);
#endif
}

void MCAN_Deinit(CAN_Type *base)
{
    /* Reset all Register Contents. */
    MCAN_Reset(base);

#if !(defined(FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL) && FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL)
    /* Disable MCAN clock. */
    CLOCK_DisableClock(s_mcanClock[MCAN_GetInstance(base)]);
#endif /* FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL */
}

void MCAN_EnterNormalMode(CAN_Type *base)
{
    /* Reset INIT bit to enter normal mode. */
    base->CCCR &= ~CAN_CCCR_INIT_MASK;
    while (((base->CCCR & CAN_CCCR_INIT_MASK) >> CAN_CCCR_INIT_SHIFT))
    {
    }
}

void MCAN_GetDefaultConfig(mcan_config_t *config)
{
    /* Assertion. */
    assert(config);

    /* Initialize MCAN Module config struct with default value. */
    config->baudRateA = 500000U;
    config->baudRateD = 500000U;
    config->enableCanfdNormal = false;
    config->enableCanfdSwitch = false;
    config->enableLoopBackInt = false;
    config->enableLoopBackExt = false;
    config->enableBusMon = false;
}

#if (defined(FSL_FEATURE_CAN_SUPPORT_CANFD) && FSL_FEATURE_CAN_SUPPORT_CANFD)
void MCAN_SetDataTimingConfig(CAN_Type *base, const mcan_timing_config_t *config)
{
    /* Assertion. */
    assert(config);

    /* Cleaning previous Timing Setting. */
    base->DBTP &= ~(CAN_DBTP_DSJW_MASK | CAN_DBTP_DTSEG2_MASK | CAN_DBTP_DTSEG1_MASK | CAN_DBTP_DBRP_MASK);

    /* Updating Timing Setting according to configuration structure. */
    base->DBTP |= (CAN_DBTP_DBRP(config->preDivider) | CAN_DBTP_DSJW(config->rJumpwidth) |
                   CAN_DBTP_DTSEG1(config->seg1) | CAN_DBTP_DTSEG2(config->seg2));
}
#endif /* FSL_FEATURE_CAN_SUPPORT_CANFD */

void MCAN_SetArbitrationTimingConfig(CAN_Type *base, const mcan_timing_config_t *config)
{
    /* Assertion. */
    assert(config);

    /* Cleaning previous Timing Setting. */
    base->NBTP &= ~(CAN_NBTP_NSJW_MASK | CAN_NBTP_NTSEG2_MASK | CAN_NBTP_NTSEG1_MASK | CAN_NBTP_NBRP_MASK);

    /* Updating Timing Setting according to configuration structure. */
    base->NBTP |= (CAN_NBTP_NBRP(config->preDivider) | CAN_NBTP_NSJW(config->rJumpwidth) |
                   CAN_NBTP_NTSEG1(config->seg1) | CAN_NBTP_NTSEG2(config->seg2));
}

void MCAN_SetFilterConfig(CAN_Type *base, const mcan_frame_filter_config_t *config)
{
    /* Set global configuration of remote/nonmasking frames, set filter address and list size. */
    if (config->idFormat == kMCAN_FrameIDStandard)
    {
        base->GFC |= CAN_GFC_RRFS(config->remFrame) | CAN_GFC_ANFS(config->nmFrame);
        base->SIDFC |= CAN_SIDFC_FLSSA(config->address >> CAN_SIDFC_FLSSA_SHIFT) | CAN_SIDFC_LSS(config->listSize);
    }
    else
    {
        base->GFC |= CAN_GFC_RRFE(config->remFrame) | CAN_GFC_ANFE(config->nmFrame);
        base->XIDFC |= CAN_XIDFC_FLESA(config->address >> CAN_XIDFC_FLESA_SHIFT) | CAN_XIDFC_LSE(config->listSize);
    }
}

void MCAN_SetRxFifo0Config(CAN_Type *base, const mcan_rx_fifo_config_t *config)
{
    /* Set Rx FIFO 0 start address, element size, watermark, operation mode. */
    base->RXF0C |= CAN_RXF0C_F0SA(config->address >> CAN_RXF0C_F0SA_SHIFT) | CAN_RXF0C_F0S(config->elementSize) |
                   CAN_RXF0C_F0WM(config->watermark) | CAN_RXF0C_F0OM(config->opmode);
    /* Set Rx FIFO 0 data field size */
    base->RXESC |= CAN_RXESC_F0DS(config->datafieldSize);
}

void MCAN_SetRxFifo1Config(CAN_Type *base, const mcan_rx_fifo_config_t *config)
{
    /* Set Rx FIFO 1 start address, element size, watermark, operation mode. */
    base->RXF1C |= CAN_RXF1C_F1SA(config->address >> CAN_RXF1C_F1SA_SHIFT) | CAN_RXF1C_F1S(config->elementSize) |
                   CAN_RXF1C_F1WM(config->watermark) | CAN_RXF1C_F1OM(config->opmode);
    /* Set Rx FIFO 1 data field size */
    base->RXESC |= CAN_RXESC_F1DS(config->datafieldSize);
}

void MCAN_SetRxBufferConfig(CAN_Type *base, const mcan_rx_buffer_config_t *config)
{
    /* Set Rx Buffer start address. */
    base->RXBC |= CAN_RXBC_RBSA(config->address >> CAN_RXBC_RBSA_SHIFT);
    /* Set Rx Buffer data field size */
    base->RXESC |= CAN_RXESC_RBDS(config->datafieldSize);
}

void MCAN_SetTxEventFifoConfig(CAN_Type *base, const mcan_tx_fifo_config_t *config)
{
    /* Set TX Event FIFO start address, element size, watermark. */
    base->TXEFC |= CAN_TXEFC_EFSA(config->address >> CAN_TXEFC_EFSA_SHIFT) | CAN_TXEFC_EFS(config->elementSize) |
                   CAN_TXEFC_EFWM(config->watermark);
}

void MCAN_SetTxBufferConfig(CAN_Type *base, const mcan_tx_buffer_config_t *config)
{
    assert((config->dedicatedSize + config->fqSize) <= 32U);

    /* Set Tx Buffer start address, size, fifo/queue mode. */
    base->TXBC |= CAN_TXBC_TBSA(config->address >> CAN_TXBC_TBSA_SHIFT) | CAN_TXBC_NDTB(config->dedicatedSize) |
                  CAN_TXBC_TFQS(config->fqSize) | CAN_TXBC_TFQM(config->mode);
    /* Set Tx Buffer data field size */
    base->TXESC |= CAN_TXESC_TBDS(config->datafieldSize);
}

void MCAN_SetSTDFilterElement(CAN_Type *base,
                              const mcan_frame_filter_config_t *config,
                              const mcan_std_filter_element_config_t *filter,
                              uint8_t idx)
{
    uint8_t *elementAddress = 0;
    elementAddress = (uint8_t *)(MCAN_GetMsgRAMBase(base) + config->address + idx * 4U);
    memcpy(elementAddress, filter, sizeof(*filter));
}

void MCAN_SetEXTFilterElement(CAN_Type *base,
                              const mcan_frame_filter_config_t *config,
                              const mcan_ext_filter_element_config_t *filter,
                              uint8_t idx)
{
    uint8_t *elementAddress = 0;
    elementAddress = (uint8_t *)(MCAN_GetMsgRAMBase(base) + config->address + idx * 8U);
    memcpy(elementAddress, filter, sizeof(*filter));
}

static uint32_t MCAN_GetRxFifo0ElementAddress(CAN_Type *base)
{
    uint32_t eSize;
    eSize = (base->RXESC & CAN_RXESC_F0DS_MASK) >> CAN_RXESC_F0DS_SHIFT;
    if (eSize < 5U)
    {
        eSize += 4U;
    }
    else
    {
        eSize = eSize * 4U - 10U;
    }
    return (base->RXF0C & CAN_RXF0C_F0SA_MASK) +
           ((base->RXF0S & CAN_RXF0S_F0GI_MASK) >> CAN_RXF0S_F0GI_SHIFT) * eSize * 4U;
}

static uint32_t MCAN_GetRxFifo1ElementAddress(CAN_Type *base)
{
    uint32_t eSize;
    eSize = (base->RXESC & CAN_RXESC_F1DS_MASK) >> CAN_RXESC_F1DS_SHIFT;
    if (eSize < 5U)
    {
        eSize += 4U;
    }
    else
    {
        eSize = eSize * 4U - 10U;
    }
    return (base->RXF1C & CAN_RXF1C_F1SA_MASK) +
           ((base->RXF1S & CAN_RXF1S_F1GI_MASK) >> CAN_RXF1S_F1GI_SHIFT) * eSize * 4U;
}

static uint32_t MCAN_GetRxBufferElementAddress(CAN_Type *base, uint8_t idx)
{
    assert(idx <= 63U);
    uint32_t eSize;
    eSize = (base->RXESC & CAN_RXESC_RBDS_MASK) >> CAN_RXESC_RBDS_SHIFT;
    if (eSize < 5U)
    {
        eSize += 4U;
    }
    else
    {
        eSize = eSize * 4U - 10U;
    }
    return (base->RXBC & CAN_RXBC_RBSA_MASK) + idx * eSize * 4U;
}

static uint32_t MCAN_GetTxBufferElementAddress(CAN_Type *base, uint8_t idx)
{
    assert(idx <= 31U);
    uint32_t eSize;
    eSize = (base->TXESC & CAN_TXESC_TBDS_MASK) >> CAN_TXESC_TBDS_SHIFT;
    if (eSize < 5U)
    {
        eSize += 4U;
    }
    else
    {
        eSize = eSize * 4U - 10U;
    }
    return (base->TXBC & CAN_TXBC_TBSA_MASK) + idx * eSize * 4U;
}

uint32_t MCAN_IsTransmitRequestPending(CAN_Type *base, uint8_t idx)
{
    return (base->TXBRP & (uint32_t)(1U << idx)) >> (uint32_t)idx;
}

uint32_t MCAN_IsTransmitOccurred(CAN_Type *base, uint8_t idx)
{
    return (base->TXBTO & (uint32_t)(1U << idx)) >> (uint32_t)idx;
}

status_t MCAN_WriteTxBuffer(CAN_Type *base, uint8_t idx, const mcan_tx_buffer_frame_t *txFrame)
{
    if (!MCAN_IsTransmitRequestPending(base, idx))
    {
        uint8_t *elementAddress = 0;
        elementAddress = (uint8_t *)(MCAN_GetMsgRAMBase(base) + MCAN_GetTxBufferElementAddress(base, idx));

        /* Write 2 words configuration field. */
        memcpy(elementAddress, (uint8_t *)txFrame, 8U);
        /* Write data field. */
        memcpy(elementAddress + 8U, txFrame->data, txFrame->size);
        return kStatus_Success;
    }
    else
    {
        return kStatus_Fail;
    }
}

status_t MCAN_ReadRxBuffer(CAN_Type *base, uint8_t idx, mcan_rx_buffer_frame_t *rxFrame)
{
    mcan_rx_buffer_frame_t *elementAddress = 0;
    elementAddress = (mcan_rx_buffer_frame_t *)(MCAN_GetMsgRAMBase(base) + MCAN_GetRxBufferElementAddress(base, idx));
    memcpy(rxFrame, elementAddress, (rxFrame->size + 8U) * 4U);
    return kStatus_Success;
}

status_t MCAN_ReadRxFifo(CAN_Type *base, uint8_t fifoBlock, mcan_rx_buffer_frame_t *rxFrame)
{
    assert((fifoBlock == 0) || (fifoBlock == 1U));
    mcan_rx_buffer_frame_t *elementAddress = 0;
    if (0 == fifoBlock)
    {
        elementAddress = (mcan_rx_buffer_frame_t *)(MCAN_GetMsgRAMBase(base) + MCAN_GetRxFifo0ElementAddress(base));
    }
    else
    {
        elementAddress = (mcan_rx_buffer_frame_t *)(MCAN_GetMsgRAMBase(base) + MCAN_GetRxFifo1ElementAddress(base));
    }
    memcpy(rxFrame, elementAddress, 8U);
    rxFrame->data = (uint8_t *)elementAddress + 8U;
    /* Acknowledge the read. */
    if (0 == fifoBlock)
    {
        base->RXF0A = (base->RXF0S & CAN_RXF0S_F0GI_MASK) >> CAN_RXF0S_F0GI_SHIFT;
    }
    else
    {
        base->RXF1A = (base->RXF1S & CAN_RXF1S_F1GI_MASK) >> CAN_RXF1S_F1GI_SHIFT;
    }
    return kStatus_Success;
}

status_t MCAN_TransferSendBlocking(CAN_Type *base, uint8_t idx, mcan_tx_buffer_frame_t *txFrame)
{
    if (kStatus_Success == MCAN_WriteTxBuffer(base, idx, txFrame))
    {
        MCAN_TransmitAddRequest(base, idx);

        /* Wait until message sent out. */
        while (!MCAN_IsTransmitOccurred(base, idx))
        {
        }
        return kStatus_Success;
    }
    else
    {
        return kStatus_Fail;
    }
}

status_t MCAN_TransferReceiveBlocking(CAN_Type *base, uint8_t bufferIdx, mcan_rx_buffer_frame_t *rxFrame)
{
    assert(bufferIdx <= 63U);

    while (!MCAN_GetRxBufferStatusFlag(base, bufferIdx))
    {
    }
    MCAN_ClearRxBufferStatusFlag(base, bufferIdx);
    return MCAN_ReadRxBuffer(base, bufferIdx, rxFrame);
}

status_t MCAN_TransferReceiveFifoBlocking(CAN_Type *base, uint8_t fifoBlock, mcan_rx_buffer_frame_t *rxFrame)
{
    assert((fifoBlock == 0) || (fifoBlock == 1U));
    if (0 == fifoBlock)
    {
        while (!MCAN_GetStatusFlag(base, CAN_IR_RF0N_MASK))
        {
        }
        MCAN_ClearStatusFlag(base, CAN_IR_RF0N_MASK);
    }
    else
    {
        while (!MCAN_GetStatusFlag(base, CAN_IR_RF1N_MASK))
        {
        }
        MCAN_ClearStatusFlag(base, CAN_IR_RF1N_MASK);
    }
    return MCAN_ReadRxFifo(base, fifoBlock, rxFrame);
}

void MCAN_TransferCreateHandle(CAN_Type *base, mcan_handle_t *handle, mcan_transfer_callback_t callback, void *userData)
{
    assert(handle);

    uint8_t instance;

    /* Clean MCAN transfer handle. */
    memset(handle, 0, sizeof(*handle));

    /* Get instance from peripheral base address. */
    instance = MCAN_GetInstance(base);

    /* Save the context in global variables to support the double weak mechanism. */
    s_mcanHandle[instance] = handle;

    /* Register Callback function. */
    handle->callback = callback;
    handle->userData = userData;

    s_mcanIsr = MCAN_TransferHandleIRQ;

    /* We Enable Error & Status interrupt here, because this interrupt just
     * report current status of MCAN module through Callback function.
     * It is insignificance without a available callback function.
     */
    if (handle->callback != NULL)
    {
        MCAN_EnableInterrupts(base, 0,
                              kMCAN_BusOffInterruptEnable | kMCAN_ErrorInterruptEnable | kMCAN_WarningInterruptEnable);
    }
    else
    {
        MCAN_DisableInterrupts(base,
                               kMCAN_BusOffInterruptEnable | kMCAN_ErrorInterruptEnable | kMCAN_WarningInterruptEnable);
    }

    /* Enable interrupts in NVIC. */
    EnableIRQ((IRQn_Type)(s_mcanIRQ[instance][0]));
    EnableIRQ((IRQn_Type)(s_mcanIRQ[instance][1]));
}

status_t MCAN_TransferSendNonBlocking(CAN_Type *base, mcan_handle_t *handle, mcan_buffer_transfer_t *xfer)
{
    /* Assertion. */
    assert(handle);
    assert(xfer);
    assert(xfer->bufferIdx <= 63U);

    /* Check if Tx Buffer is idle. */
    if (kMCAN_StateIdle == handle->bufferState[xfer->bufferIdx])
    {
        handle->txbufferIdx = xfer->bufferIdx;
        /* Distinguish transmit type. */
        if (kMCAN_FrameTypeRemote == xfer->frame->xtd)
        {
            handle->bufferState[xfer->bufferIdx] = kMCAN_StateTxRemote;

            /* Register user Frame buffer to receive remote Frame. */
            handle->bufferFrameBuf[xfer->bufferIdx] = xfer->frame;
        }
        else
        {
            handle->bufferState[xfer->bufferIdx] = kMCAN_StateTxData;
        }

        if (kStatus_Success == MCAN_WriteTxBuffer(base, xfer->bufferIdx, xfer->frame))
        {
            /* Enable Buffer Interrupt. */
            MCAN_EnableTransmitBufferInterrupts(base, xfer->bufferIdx);
            MCAN_EnableInterrupts(base, 0, CAN_IE_TCE_MASK);

            MCAN_TransmitAddRequest(base, xfer->bufferIdx);

            return kStatus_Success;
        }
        else
        {
            handle->bufferState[xfer->bufferIdx] = kMCAN_StateIdle;
            return kStatus_Fail;
        }
    }
    else
    {
        return kStatus_MCAN_TxBusy;
    }
}

status_t MCAN_TransferReceiveFifoNonBlocking(CAN_Type *base,
                                             uint8_t fifoBlock,
                                             mcan_handle_t *handle,
                                             mcan_fifo_transfer_t *xfer)
{
    /* Assertion. */
    assert((fifoBlock == 0) || (fifoBlock == 1U));
    assert(handle);
    assert(xfer);

    /* Check if Message Buffer is idle. */
    if (kMCAN_StateIdle == handle->rxFifoState)
    {
        handle->rxFifoState = kMCAN_StateRxFifo;

        /* Register Message Buffer. */
        handle->rxFifoFrameBuf = xfer->frame;

        /* Enable FIFO Interrupt. */
        if (fifoBlock)
        {
            MCAN_EnableInterrupts(base, 0, CAN_IE_RF1NE_MASK);
        }
        else
        {
            MCAN_EnableInterrupts(base, 0, CAN_IE_RF0NE_MASK);
        }
        return kStatus_Success;
    }
    else
    {
        return fifoBlock ? kStatus_MCAN_RxFifo1Busy : kStatus_MCAN_RxFifo0Busy;
    }
}

void MCAN_TransferAbortSend(CAN_Type *base, mcan_handle_t *handle, uint8_t bufferIdx)
{
    /* Assertion. */
    assert(handle);
    assert(bufferIdx <= 63U);

    /* Disable Buffer Interrupt. */
    MCAN_DisableTransmitBufferInterrupts(base, bufferIdx);
    MCAN_DisableInterrupts(base, CAN_IE_TCE_MASK);

    /* Cancel send request. */
    MCAN_TransmitCancelRequest(base, bufferIdx);

    /* Un-register handle. */
    handle->bufferFrameBuf[bufferIdx] = 0x0;

    handle->bufferState[bufferIdx] = kMCAN_StateIdle;
}

void MCAN_TransferAbortReceiveFifo(CAN_Type *base, uint8_t fifoBlock, mcan_handle_t *handle)
{
    /* Assertion. */
    assert(handle);
    assert((fifoBlock == 0) || (fifoBlock == 1));

    /* Check if Rx FIFO is enabled. */
    if (fifoBlock)
    {
        /* Disable Rx Message FIFO Interrupts. */
        MCAN_DisableInterrupts(base, CAN_IE_RF1NE_MASK);
    }
    else
    {
        MCAN_DisableInterrupts(base, CAN_IE_RF0NE_MASK);
    }
    /* Un-register handle. */
    handle->rxFifoFrameBuf = 0x0;

    handle->rxFifoState = kMCAN_StateIdle;
}

void MCAN_TransferHandleIRQ(CAN_Type *base, mcan_handle_t *handle)
{
    /* Assertion. */
    assert(handle);

    status_t status = kStatus_MCAN_UnHandled;
    uint32_t result;

    /* Store Current MCAN Module Error and Status. */
    result = base->IR;

    do
    {
        /* Solve Rx FIFO, Tx interrupt. */
        if (result & kMCAN_TxTransmitCompleteFlag)
        {
            status = kStatus_MCAN_TxIdle;
            MCAN_TransferAbortSend(base, handle, handle->txbufferIdx);
        }
        else if (result & kMCAN_RxFifo0NewFlag)
        {
            MCAN_ReadRxFifo(base, 0, handle->rxFifoFrameBuf);
            status = kStatus_MCAN_RxFifo0Idle;
            MCAN_TransferAbortReceiveFifo(base, 0, handle);
        }
        else if (result & kMCAN_RxFifo0LostFlag)
        {
            status = kStatus_MCAN_RxFifo0Lost;
        }
        else if (result & kMCAN_RxFifo1NewFlag)
        {
            MCAN_ReadRxFifo(base, 1, handle->rxFifoFrameBuf);
            status = kStatus_MCAN_RxFifo1Idle;
            MCAN_TransferAbortReceiveFifo(base, 1, handle);
        }
        else if (result & kMCAN_RxFifo1LostFlag)
        {
            status = kStatus_MCAN_RxFifo0Lost;
        }
        else
        {
            ;
        }

        /* Clear resolved Rx FIFO, Tx Buffer IRQ. */
        MCAN_ClearStatusFlag(base, result);

        /* Calling Callback Function if has one. */
        if (handle->callback != NULL)
        {
            handle->callback(base, handle, status, result, handle->userData);
        }

        /* Reset return status */
        status = kStatus_MCAN_UnHandled;

        /* Store Current MCAN Module Error and Status. */
        result = base->IR;
    } while ((0 != MCAN_GetStatusFlag(base, 0xFFFFFFFFU)) ||
             (0 != (result & (kMCAN_ErrorWarningIntFlag | kMCAN_BusOffIntFlag | kMCAN_ErrorPassiveIntFlag))));
}

#if defined(CAN0)
void CAN0_IRQ0_DriverIRQHandler(void)
{
    assert(s_mcanHandle[0]);

    s_mcanIsr(CAN0, s_mcanHandle[0]);
}

void CAN0_IRQ1_DriverIRQHandler(void)
{
    assert(s_mcanHandle[0]);

    s_mcanIsr(CAN0, s_mcanHandle[0]);
}
#endif

#if defined(CAN1)
void CAN1_IRQ0_DriverIRQHandler(void)
{
    assert(s_mcanHandle[1]);

    s_mcanIsr(CAN1, s_mcanHandle[1]);
}

void CAN1_IRQ1_DriverIRQHandler(void)
{
    assert(s_mcanHandle[1]);

    s_mcanIsr(CAN1, s_mcanHandle[1]);
}
#endif