Diff: freemaster.h

Revision:

12:15696acfeebe

Parent:

9:61b2beb811bf

Child:

13:62ef0bfeb036

diff -r d1de61dc3766 -r 15696acfeebe freemaster.h
--- a/freemaster.h	Wed Jun 04 17:06:21 2014 +0000
+++ b/freemaster.h	Thu Jun 19 16:45:50 2014 +0000
@@ -5,122 +5,514 @@
 * This software is owned or controlled by Freescale Semiconductor.
 * Use of this software is governed by the Freescale FreeMASTER License
 * distributed with this Material.
-* See the FreeMASTER_LICENSE file distributed for more details.
-*
-* Brief License Summary:
-* This software is provided in source form for you to use free of charge,
-* but it is not open source software. You are allowed to use this software
-* but you cannot redistribute it or derivative works of it in source form.
-* The software may be used only in connection with a product containing
-* a Freescale microprocessor, microcontroller, or digital signal processor.
-* See license agreement file for full license terms including other
-* restrictions.
+* See the LICENSE file distributed for more details.
 * 
 ****************************************************************************//*!
 *
-* @brief  FreeMASTER Driver main API header file, mbed platform
-*
-* This is the only header file needed to be included by the user application
-* to implement the FreeMASTER interface.
+* @brief  FreeMASTER Driver hardware dependent stuff
 *
 *******************************************************************************/
 
-#ifndef __FREEMASTER_H
-#define __FREEMASTER_H
-
-/* identify our current platform */
-#define FMSTR_PLATFORM_MBED 1
-
-
-/*****************************************************************************
-* Global types
-******************************************************************************/
-
-typedef unsigned char * FMSTR_ADDR;             /* CPU address type (4bytes) */
-typedef unsigned short FMSTR_SIZE;              /* general size type (at least 16 bits) */
-typedef unsigned char FMSTR_BOOL;               /* general boolean type  */
-#if FMSTR_RECORDER_LARGE_MODE
-typedef unsigned long FMSTR_SIZE_RECBUFF;
-#else
-typedef unsigned short FMSTR_SIZE_RECBUFF;
-#endif
-typedef unsigned char* FMSTR_BPTR;      /* pointer within a communication buffer */
-#define FMSTR_TSA_CDECL const
+#ifndef __FREEMASTER_KXX_H
+#define __FREEMASTER_KXX_H
 
-/* application command-specific types */
-typedef unsigned char FMSTR_APPCMD_CODE;
-typedef unsigned char FMSTR_APPCMD_DATA, *FMSTR_APPCMD_PDATA;
-typedef unsigned char FMSTR_APPCMD_RESULT;
-
-/* pointer to application command callback handler */
-typedef FMSTR_APPCMD_RESULT (*FMSTR_PAPPCMDFUNC)(FMSTR_APPCMD_CODE,FMSTR_APPCMD_PDATA,FMSTR_SIZE);
-
-/*****************************************************************************
-* TSA-related user types and macros
-******************************************************************************/
-
-#include "freemaster_tsa.h"
-
-/*****************************************************************************
-* Constants
-******************************************************************************/
-
-/* application command status information  */
-#define FMSTR_APPCMDRESULT_NOCMD      0xff
-#define FMSTR_APPCMDRESULT_RUNNING    0xfe
-#define MFSTR_APPCMDRESULT_LASTVALID  0xf7  /* F8-FF are reserved  */
-
-/* recorder time base declaration helpers */
-#define FMSTR_REC_BASE_SECONDS(x)  ((x) & 0x3fff)
-#define FMSTR_REC_BASE_MILLISEC(x) (((x) & 0x3fff) | 0x4000)
-#define FMSTR_REC_BASE_MICROSEC(x) (((x) & 0x3fff) | 0x8000)
-#define FMSTR_REC_BASE_NANOSEC(x)  (((x) & 0x3fff) | 0xc000)
+/******************************************************************************
+ * Supress warnings generated by compilers
+ ******************************************************************************/
+#if defined(__ICCARM__)
+  #pragma diag_suppress=Pe174
+  #pragma diag_suppress=Pe177
+  #pragma diag_suppress=Pe550
+#elif defined(__CC_ARM)
+  #pragma diag_suppress=174
+  #pragma diag_suppress=177
+  #pragma diag_suppress=550
+#endif 
 
 /******************************************************************************
-* NULL needed
-******************************************************************************/
+ * platform-specific default configuration
+ ******************************************************************************/
+
+/* use 32-bit (EX) commands by default */
+#ifndef FMSTR_USE_EX_CMDS
+#define FMSTR_USE_EX_CMDS 1
+#endif
 
-#ifndef NULL
-#ifdef __cplusplus
-#define NULL (0)
-#else
-#define NULL ((void *) 0)
+/* do not use 16-bit (no-EX) commands by default */
+#ifndef FMSTR_USE_NOEX_CMDS
+#define FMSTR_USE_NOEX_CMDS 0
 #endif
+
+/* at least one of EX or no-EX command handling must be enabled */
+#if !FMSTR_USE_EX_CMDS && !FMSTR_USE_NOEX_CMDS
+    #error At least one of EX or no-EX command handling must be enabled (please set FMSTR_USE_EX_CMDS)
+    #undef  FMSTR_USE_EX_CMDS
+    #define FMSTR_USE_EX_CMDS 1
 #endif
 
 /*****************************************************************************
-* Global functions
+* Board configuration information 
+******************************************************************************/
+
+#define FMSTR_PROT_VER           3      /* protocol version 3 */
+#define FMSTR_CFG_FLAGS          FMSTR_CFG_REC_LARGE_MODE      /* board info flags */
+#define FMSTR_CFG_BUS_WIDTH      1      /* data bus width */
+#define FMSTR_GLOB_VERSION_MAJOR 2      /* driver version */
+#define FMSTR_GLOB_VERSION_MINOR 0
+#define FMSTR_IDT_STRING "Kxx FreeMASTER"
+#define FMSTR_TSA_FLAGS          0
+
+/******************************************************************************
+* platform-specific types
+******************************************************************************/
+
+typedef unsigned char  FMSTR_U8;        /* smallest memory entity */
+typedef unsigned short FMSTR_U16;       /* 16bit value */
+typedef unsigned long  FMSTR_U32;       /* 32bit value */
+
+typedef signed char    FMSTR_S8;        /* signed 8bit value */
+typedef signed short   FMSTR_S16;       /* signed 16bit value */
+typedef signed long    FMSTR_S32;       /* signed 32bit value */
+
+#if FMSTR_REC_FLOAT_TRIG
+typedef float          FMSTR_FLOAT;     /* float value */
+#endif
+
+typedef unsigned char  FMSTR_FLAGS;     /* type to be union-ed with flags (at least 8 bits) */
+typedef unsigned char  FMSTR_SIZE8;     /* one-byte size value */
+typedef signed short   FMSTR_INDEX;     /* general for-loop index (must be signed) */
+
+typedef unsigned char  FMSTR_BCHR;      /* type of a single character in comm.buffer */
+typedef unsigned char* FMSTR_BPTR;      /* pointer within a communication buffer */
+
+typedef unsigned char  FMSTR_SCISR;     /* data type to store SCI status register */
+
+/******************************************************************************
+* communication buffer access functions
 ******************************************************************************/
-#ifdef __cplusplus
-  extern "C" {
+
+void FMSTR_CopyMemory(FMSTR_ADDR nDestAddr, FMSTR_ADDR nSrcAddr, FMSTR_SIZE8 nSize);
+FMSTR_BPTR FMSTR_CopyToBuffer(FMSTR_BPTR pDestBuff, FMSTR_ADDR nSrcAddr, FMSTR_SIZE8 nSize);
+FMSTR_BPTR FMSTR_CopyFromBuffer(FMSTR_ADDR nDestAddr, FMSTR_BPTR pSrcBuff, FMSTR_SIZE8 nSize);
+void FMSTR_CopyFromBufferWithMask(FMSTR_ADDR nDestAddr, FMSTR_BPTR pSrcBuff, FMSTR_SIZE8 nSize);
+
+/* mixed EX and non-EX commands may occur */
+#if (FMSTR_USE_EX_CMDS) && (FMSTR_USE_NOEX_CMDS) || (FMSTR_BYTE_BUFFER_ACCESS)
+void FMSTR_SetExAddr(FMSTR_BOOL bNextAddrIsEx);
+#else
+/* otherwise, we always know what addresses are used, (ignore FMSTR_SetExAddr) */
+#define FMSTR_SetExAddr(bNextAddrIsEx) 
+#endif
+
+#if (FMSTR_BYTE_BUFFER_ACCESS)
+FMSTR_BPTR FMSTR_ValueFromBuffer16(FMSTR_U16* pDest, FMSTR_BPTR pSrc);
+FMSTR_BPTR FMSTR_ValueFromBuffer32(FMSTR_U32* pDest, FMSTR_BPTR pSrc);
+FMSTR_BPTR FMSTR_ValueToBuffer16(FMSTR_BPTR pDest, FMSTR_U16 src);
+FMSTR_BPTR FMSTR_ValueToBuffer32(FMSTR_BPTR pDest, FMSTR_U32 src);
+#endif
+
+/*********************************************************************************
+* communication buffer access functions. Most of them are trivial simple on KXX
+*********************************************************************************/
+
+#define FMSTR_ValueFromBuffer8(pDest, pSrc) \
+    ( (*((FMSTR_U8*)(pDest)) = *(FMSTR_U8*)(pSrc)), (((FMSTR_BPTR)(pSrc))+1) )
+
+#if !(FMSTR_BYTE_BUFFER_ACCESS)
+#define FMSTR_ValueFromBuffer16(pDest, pSrc) \
+    ( (*((FMSTR_U16*)(pDest)) = *(FMSTR_U16*)(pSrc)), (((FMSTR_BPTR)(pSrc))+2) )
+
+#define FMSTR_ValueFromBuffer32(pDest, pSrc) \
+    ( (*((FMSTR_U32*)(pDest)) = *(FMSTR_U32*)(pSrc)), (((FMSTR_BPTR)(pSrc))+4) )
+#endif
+
+#define FMSTR_ValueToBuffer8(pDest, src) \
+    ( (*((FMSTR_U8*)(pDest)) = (FMSTR_U8)(src)), (((FMSTR_BPTR)(pDest))+1) )
+
+#if !(FMSTR_BYTE_BUFFER_ACCESS)
+#define FMSTR_ValueToBuffer16(pDest, src) \
+    ( (*((FMSTR_U16*)(pDest)) = (FMSTR_U16)(src)), (((FMSTR_BPTR)(pDest))+2) )
+
+#define FMSTR_ValueToBuffer32(pDest, src) \
+    ( (*((FMSTR_U32*)(pDest)) = (FMSTR_U32)(src)), (((FMSTR_BPTR)(pDest))+4) )
+#endif
+
+#define FMSTR_SkipInBuffer(pDest, nSize) \
+    ( ((FMSTR_BPTR)(pDest)) + (nSize) )
+
+
+#define FMSTR_ConstToBuffer8  FMSTR_ValueToBuffer8
+#define FMSTR_ConstToBuffer16 FMSTR_ValueToBuffer16
+
+/* EX address used only: fetching 32bit word */
+#if (FMSTR_USE_EX_CMDS) && !(FMSTR_USE_NOEX_CMDS) && !(FMSTR_BYTE_BUFFER_ACCESS)
+    #define FMSTR_AddressFromBuffer(pDest, pSrc) \
+        FMSTR_ValueFromBuffer32(pDest, pSrc)
+    #define FMSTR_AddressToBuffer(pDest, nAddr) \
+        FMSTR_ValueToBuffer32(pDest, nAddr)
+
+/* no-EX address used only: fetching 16bit word  */
+#elif !(FMSTR_USE_EX_CMDS) && (FMSTR_USE_NOEX_CMDS) && !(FMSTR_BYTE_BUFFER_ACCESS)
+    #define FMSTR_AddressFromBuffer(pDest, pSrc) \
+        FMSTR_ValueFromBuffer16(pDest, pSrc)
+    #define FMSTR_AddressToBuffer(pDest, nAddr) \
+        FMSTR_ValueToBuffer16(pDest, nAddr)
+
+/* mixed addresses used, need to process it programatically */
+#else
+    FMSTR_BPTR FMSTR_AddressFromBuffer(FMSTR_ADDR* pAddr, FMSTR_BPTR pSrc);
+    FMSTR_BPTR FMSTR_AddressToBuffer(FMSTR_BPTR pDest, FMSTR_ADDR nAddr);
+#endif
+
+#define FMSTR_GetS8(addr)  ( *(FMSTR_S8*)(addr) )
+#define FMSTR_GetU8(addr)  ( *(FMSTR_U8*)(addr) )
+#define FMSTR_GetS16(addr) ( *(FMSTR_S16*)(addr) )
+#define FMSTR_GetU16(addr) ( *(FMSTR_U16*)(addr) )
+#define FMSTR_GetS32(addr) ( *(FMSTR_S32*)(addr) )
+#define FMSTR_GetU32(addr) ( *(FMSTR_U32*)(addr) )
+
+#if FMSTR_REC_FLOAT_TRIG
+#define FMSTR_GetFloat(addr) ( *(FMSTR_FLOAT*)(addr) )
 #endif
 
-/* FreeMASTER serial communication API */
-void FMSTR_InitSerialBase(FMSTR_BPTR pBase);
-FMSTR_BOOL FMSTR_Init(void);    /* general initialization */
-void FMSTR_Poll(void);          /* polling call, use in SHORT_INTR and POLL_DRIVEN modes */
-void FMSTR_Isr(void);           /* SCI interrupt handler for LONG_INTR and SHORT_INTR modes */
-void FMSTR_SetSciMbedObject(FMSTR_ADDR pSerObj);
+/****************************************************************************************
+* Other helper macros
+*****************************************************************************************/
+
+/* This macro assigns C pointer to FMSTR_ADDR-typed variable */
+#define FMSTR_PTR2ADDR(tmpAddr,ptr) ( tmpAddr = (FMSTR_ADDR) (FMSTR_U8*) ptr )
+#define FMSTR_ARR2ADDR FMSTR_PTR2ADDR
+
+/****************************************************************************************
+* Platform-specific configuration
+*****************************************************************************************/
+
+/* FlexCAN functionality tested on KXX */
+#define FMSTR_CANHW_FLEXCAN 1 
+
+/****************************************************************************************
+* General peripheral space access macros
+*****************************************************************************************/
+
+#define FMSTR_SETREG8(base, offset, value)      (*(volatile FMSTR_U8*)(((FMSTR_U32)(base))+(offset)) = value)
+#define FMSTR_GETREG8(base, offset)             (*(volatile FMSTR_U8*)(((FMSTR_U32)(base))+(offset)))
+#define FMSTR_SETBIT8(base, offset, bit)        (*(volatile FMSTR_U8*)(((FMSTR_U32)(base))+(offset)) |= bit)
+#define FMSTR_CLRBIT8(base, offset, bit)        (*(volatile FMSTR_U8*)(((FMSTR_U32)(base))+(offset)) &= (FMSTR_U16)~((FMSTR_U16)(bit)))
+#define FMSTR_SETREG16(base, offset, value)     (*(volatile FMSTR_U16*)(((FMSTR_U32)(base))+(offset)) = value)
+#define FMSTR_GETREG16(base, offset)            (*(volatile FMSTR_U16*)(((FMSTR_U32)(base))+(offset)))
+#define FMSTR_SETBIT16(base, offset, bit)       (*(volatile FMSTR_U16*)(((FMSTR_U32)(base))+(offset)) |= bit)
+#define FMSTR_CLRBIT16(base, offset, bit)       (*(volatile FMSTR_U16*)(((FMSTR_U32)(base))+(offset)) &= (FMSTR_U16)~((FMSTR_U16)(bit)))
+#define FMSTR_TSTBIT16(base, offset, bit)       (*(volatile FMSTR_U16*)(((FMSTR_U32)(base))+(offset)) & (bit))
+#define FMSTR_SETREG32(base, offset, value)     (*(volatile FMSTR_U32*)(((FMSTR_U32)(base))+(offset)) = value)
+#define FMSTR_GETREG32(base, offset)            (*(volatile FMSTR_U32*)(((FMSTR_U32)(base))+(offset)))
+#define FMSTR_SETBIT32(base, offset, bit)       ((*(volatile FMSTR_U32*)(((FMSTR_U32)(base))+(offset))) |= bit)
+#define FMSTR_CLRBIT32(base, offset, bit)       ((*(volatile FMSTR_U32*)(((FMSTR_U32)(base))+(offset))) &= ~(bit))
+#define FMSTR_TSTBIT32(base, offset, bit)       (*(volatile FMSTR_U32*)(((FMSTR_U32)(base))+(offset)) & (bit))
+
+/****************************************************************************************
+* SCI module constants
+*****************************************************************************************/
 
-/* Recorder API */
-void FMSTR_Recorder(void);
-void FMSTR_TriggerRec(void);
-void FMSTR_SetUpRecBuff(FMSTR_ADDR nBuffAddr, FMSTR_SIZE_RECBUFF nBuffSize);
+/* SCI module registers */
+#define FMSTR_SCIBDH_OFFSET 0
+#define FMSTR_SCIBDL_OFFSET 1
+#define FMSTR_SCIC1_OFFSET 2
+#define FMSTR_SCIC2_OFFSET 3
+#define FMSTR_SCIS1_OFFSET 4
+#define FMSTR_SCIS2_OFFSET 5
+#define FMSTR_SCIC3_OFFSET 6
+#define FMSTR_SCIDR_OFFSET 7
+
+/* SCI Control Register bits */
+#define FMSTR_SCIC1_LOOPS     0x80
+#define FMSTR_SCIC1_SWAI      0x40
+#define FMSTR_SCIC1_RSRC      0x20
+#define FMSTR_SCIC1_M         0x10
+#define FMSTR_SCIC1_WAKE      0x08
+#define FMSTR_SCIC1_ILT       0x04
+#define FMSTR_SCIC1_PE        0x02
+#define FMSTR_SCIC1_PT        0x01
+#define FMSTR_SCIC2_TIE       0x80
+#define FMSTR_SCIC2_TCIE      0x40
+#define FMSTR_SCIC2_RIE       0x20
+#define FMSTR_SCIC2_ILIE      0x10
+#define FMSTR_SCIC2_TE        0x08
+#define FMSTR_SCIC2_RE        0x04
+#define FMSTR_SCIC2_RWU       0x02
+#define FMSTR_SCIC2_SBK       0x01
+
+/* SCI Status registers bits */
+#define FMSTR_SCISR_TDRE       0x80
+#define FMSTR_SCISR_TC         0x40
+#define FMSTR_SCISR_RDRF       0x20
+#define FMSTR_SCISR_IDLE       0x10
+#define FMSTR_SCISR_OR         0x08
+#define FMSTR_SCISR_NF         0x04
+#define FMSTR_SCISR_FE         0x02
+#define FMSTR_SCISR_PF         0x01
+#define FMSTR_SCISR2_BRK13     0x04
+#define FMSTR_SCISR2_TXDIR     0x02
+#define FMSTR_SCISR2_RAF       0x01
 
-/* Application commands API */
-FMSTR_APPCMD_CODE  FMSTR_GetAppCmd(void);
-FMSTR_APPCMD_PDATA FMSTR_GetAppCmdData(FMSTR_SIZE* pDataLen);
-FMSTR_BOOL         FMSTR_RegisterAppCmdCall(FMSTR_APPCMD_CODE nAppCmdCode, FMSTR_PAPPCMDFUNC pCallbackFunc);
+/* SCI module registers */
+#define FMSTR_SCIBAUD_OFFSET 0
+#define FMSTR_SCISTATUS_OFFSET 4
+#define FMSTR_SCICTRL_OFFSET 8
+#define FMSTR_SCIDATA_OFFSET 12
+
+/* SCI Control Register bits */
+#define FMSTR_SCICTRL_TE        0x080000
+#define FMSTR_SCICTRL_RE        0x040000
+#define FMSTR_SCICTRL_TIE       0x800000
+#define FMSTR_SCICTRL_TCIE      0x400000
+#define FMSTR_SCICTRL_RIE       0x200000
+
+
+/*******************************************************************************************
+* SCI access macros
+*****************************************************************************************/
+
+#if FMSTR_USE_LPUART
+
+/* transmitter enable/disable */
+#define FMSTR_SCI_TE() FMSTR_SETBIT32(FMSTR_SCI_BASE, FMSTR_SCICTRL_OFFSET, FMSTR_SCICTRL_TE)
+#define FMSTR_SCI_TD() FMSTR_CLRBIT32(FMSTR_SCI_BASE, FMSTR_SCICTRL_OFFSET, FMSTR_SCICTRL_TE)
+
+/* receiver enable/disable */
+#define FMSTR_SCI_RE() FMSTR_SETBIT32(FMSTR_SCI_BASE, FMSTR_SCICTRL_OFFSET, FMSTR_SCICTRL_RE)
+#define FMSTR_SCI_RD() FMSTR_CLRBIT32(FMSTR_SCI_BASE, FMSTR_SCICTRL_OFFSET, FMSTR_SCICTRL_RE)
+
+#define FMSTR_SCI_TE_RE() FMSTR_SETBIT32(FMSTR_SCI_BASE, FMSTR_SCICTRL_OFFSET, FMSTR_SCICTRL_RE | FMSTR_SCICTRL_TE)
+
+/* Transmitter-empty interrupt enable/disable */
+#define FMSTR_SCI_ETXI() FMSTR_SETBIT32(FMSTR_SCI_BASE, FMSTR_SCICTRL_OFFSET, FMSTR_SCICTRL_TIE)
+#define FMSTR_SCI_DTXI() FMSTR_CLRBIT32(FMSTR_SCI_BASE, FMSTR_SCICTRL_OFFSET, FMSTR_SCICTRL_TIE)
+
+/* Receiver-full interrupt enable/disable */
+#define FMSTR_SCI_ERXI() FMSTR_SETBIT32(FMSTR_SCI_BASE, FMSTR_SCICTRL_OFFSET, FMSTR_SCICTRL_RIE)
+#define FMSTR_SCI_DRXI() FMSTR_CLRBIT32(FMSTR_SCI_BASE, FMSTR_SCICTRL_OFFSET, FMSTR_SCICTRL_RIE)
+
+/* Tranmsit character */
+#define FMSTR_SCI_PUTCHAR(ch) FMSTR_SETREG8(FMSTR_SCI_BASE, FMSTR_SCIDATA_OFFSET, ch)
+
+/* Get received character */
+#define FMSTR_SCI_GETCHAR() FMSTR_GETREG8(FMSTR_SCI_BASE, FMSTR_SCIDATA_OFFSET)
 
-void FMSTR_AppCmdAck(FMSTR_APPCMD_RESULT nResultCode);
-void FMSTR_AppCmdSetResponseData(FMSTR_ADDR nResultDataAddr, FMSTR_SIZE nResultDataLen);
+/* read status register */
+#define FMSTR_SCI_GETSR()   FMSTR_GETREG32(FMSTR_SCI_BASE, FMSTR_SCISTATUS_OFFSET)
+
+/* read & clear status register */
+/*#define FMSTR_SCI_RDCLRSR() do{\
+  unsigned long st = FMSTR_GETREG32(FMSTR_SCI_BASE, FMSTR_SCISTATUS_OFFSET);\
+  FMSTR_SETREG32(FMSTR_SCI_BASE, FMSTR_SCISTATUS_OFFSET, st);\
+}while(0)*/
+#define FMSTR_SCI_RDCLRSR() (FMSTR_GETREG32(FMSTR_SCI_BASE, FMSTR_SCISTATUS_OFFSET)>>16);\
+  FMSTR_SETREG32(FMSTR_SCI_BASE, FMSTR_SCISTATUS_OFFSET, FMSTR_GETREG32(FMSTR_SCI_BASE, FMSTR_SCISTATUS_OFFSET));
+
+#else
+
+/* transmitter enable/disable */
+#define FMSTR_SCI_TE() FMSTR_SETBIT8(FMSTR_SCI_BASE, FMSTR_SCIC2_OFFSET, FMSTR_SCIC2_TE)
+#define FMSTR_SCI_TD() FMSTR_CLRBIT8(FMSTR_SCI_BASE, FMSTR_SCIC2_OFFSET, FMSTR_SCIC2_TE)
+
+/* receiver enable/disable */
+#define FMSTR_SCI_RE() FMSTR_SETBIT8(FMSTR_SCI_BASE, FMSTR_SCIC2_OFFSET, FMSTR_SCIC2_RE)
+#define FMSTR_SCI_RD() FMSTR_CLRBIT8(FMSTR_SCI_BASE, FMSTR_SCIC2_OFFSET, FMSTR_SCIC2_RE)
 
-void FMSTR_SetUpTsaBuff(FMSTR_ADDR nBuffAddr, FMSTR_SIZE nBuffSize);
-FMSTR_BOOL FMSTR_TsaAddVar(FMSTR_TSATBL_STRPTR name, FMSTR_TSATBL_STRPTR type, FMSTR_TSATBL_VOIDPTR addr, FMSTR_TSATBL_VOIDPTR info);
+#define FMSTR_SCI_TE_RE() FMSTR_SETBIT8(FMSTR_SCI_BASE, FMSTR_SCIC2_OFFSET, FMSTR_SCIC2_RE | FMSTR_SCIC2_TE)
+
+/* Transmitter-empty interrupt enable/disable */
+#define FMSTR_SCI_ETXI() FMSTR_SETBIT8(FMSTR_SCI_BASE, FMSTR_SCIC2_OFFSET, FMSTR_SCIC2_TIE)
+#define FMSTR_SCI_DTXI() FMSTR_CLRBIT8(FMSTR_SCI_BASE, FMSTR_SCIC2_OFFSET, FMSTR_SCIC2_TIE)
+
+/* Receiver-full interrupt enable/disable */
+#define FMSTR_SCI_ERXI() FMSTR_SETBIT8(FMSTR_SCI_BASE, FMSTR_SCIC2_OFFSET, FMSTR_SCIC2_RIE)
+#define FMSTR_SCI_DRXI() FMSTR_CLRBIT8(FMSTR_SCI_BASE, FMSTR_SCIC2_OFFSET, FMSTR_SCIC2_RIE)
 
-#ifdef __cplusplus
-  }
+/* Tranmsit character */
+#define FMSTR_SCI_PUTCHAR(ch) FMSTR_SETREG8(FMSTR_SCI_BASE, FMSTR_SCIDR_OFFSET, ch)
+
+/* Get received character */
+#define FMSTR_SCI_GETCHAR() FMSTR_GETREG8(FMSTR_SCI_BASE, FMSTR_SCIDR_OFFSET)
+
+/* read status register */
+#define FMSTR_SCI_GETSR()   FMSTR_GETREG8(FMSTR_SCI_BASE, FMSTR_SCIS1_OFFSET)
+
+/* read & clear status register */
+#define FMSTR_SCI_RDCLRSR() FMSTR_GETREG8(FMSTR_SCI_BASE, FMSTR_SCIS1_OFFSET)
+
 #endif
 
-#endif /* __FREEMASTER_H */
+/****************************************************************************************
+* FCAN module constants
+*****************************************************************************************/
+
+/* FCAN module MB CODEs */
+#define FMSTR_FCANMB_CODE_MASK      0x0F        /* defines mask of codes */
+
+#define FMSTR_FCANMB_CRXVOID        0x00        /* buffer void after received data read-out */
+#define FMSTR_FCANMB_CRXEMPTY       0x04        /* active and empty */
+
+#define FMSTR_FCANMB_CTXTRANS_ONCE  0x0C        /* Initialize transmitting data from buffer */
+#define FMSTR_FCANMB_CTXREADY       0x08        /* Message buffer not ready for transmit */
+
+/* FCAN module registers offsets */
+#define FMSTR_FCANTMR_OFFSET   0x08
+#define FMSTR_FCANIER2_OFFSET  0x24
+#define FMSTR_FCANIER1_OFFSET  0x28
+#define FMSTR_FCANIFR2_OFFSET  0x2C
+#define FMSTR_FCANIFR1_OFFSET  0x30
+#define FMSTR_FCANRXFG_OFFSET  (0x80 + ((FMSTR_FLEXCAN_RXMB) * 0x10))
+#define FMSTR_FCANTXFG_OFFSET  (0x80 + ((FMSTR_FLEXCAN_TXMB) * 0x10))
+
+/* FCAN MB registers offsets (must also add FCANxxFG_OFFSET) */
+#define FMSTR_FCMBCSR   0x00
+#define FMSTR_FCMBIDR0  0x04
+#define FMSTR_FCMBIDR1  0x05
+#define FMSTR_FCMBIDR2  0x06
+#define FMSTR_FCMBIDR3  0x07
+#define FMSTR_FCMBDSR0  0x0B
+#define FMSTR_FCMBDSR1  0x0A
+#define FMSTR_FCMBDSR2  0x09
+#define FMSTR_FCMBDSR3  0x08
+#define FMSTR_FCMBDSR4  0x0F
+#define FMSTR_FCMBDSR5  0x0E
+#define FMSTR_FCMBDSR6  0x0D
+#define FMSTR_FCMBDSR7  0x0C
+
+/* FCAN CANMSCSR */
+#define FMSTR_FCANCTRL_IDE     0x20
+#define FMSTR_FCANCTRL_STD_RTR 0x10
+#define FMSTR_FCANCTRL_EXT_RTR 0x10
+#define FMSTR_FCANCTRL_EXT_SRR 0x40
+
+/* FCAN ID flags */
+#define FMSTR_FCANID0_EXT_FLG  0x80
+
+/* FCAN: enable/disable CAN RX/TX interrupts */
+#define FMSTR_FCAN_ETXI() ( ((FMSTR_FLEXCAN_TXMB)&0x20) ? \
+                            FMSTR_SETBIT32(FMSTR_CAN_BASE, FMSTR_FCANIER2_OFFSET, (1<<((FMSTR_FLEXCAN_TXMB)-32))):\
+                            FMSTR_SETBIT32(FMSTR_CAN_BASE, FMSTR_FCANIER1_OFFSET, (1<<(FMSTR_FLEXCAN_TXMB))) )
+#define FMSTR_FCAN_DTXI() ( ((FMSTR_FLEXCAN_TXMB)&0x20) ? \
+                            FMSTR_CLRBIT32(FMSTR_CAN_BASE, FMSTR_FCANIER2_OFFSET, (1<<((FMSTR_FLEXCAN_TXMB)-32))):\
+                            FMSTR_CLRBIT32(FMSTR_CAN_BASE, FMSTR_FCANIER1_OFFSET, (1<<(FMSTR_FLEXCAN_TXMB))) )
+#define FMSTR_FCAN_ERXI() ( ((FMSTR_FLEXCAN_RXMB)&0x20) ? \
+                            FMSTR_SETBIT32(FMSTR_CAN_BASE, FMSTR_FCANIER2_OFFSET, (1<<((FMSTR_FLEXCAN_RXMB)-32))):\
+                            FMSTR_SETBIT32(FMSTR_CAN_BASE, FMSTR_FCANIER1_OFFSET, (1<<(FMSTR_FLEXCAN_RXMB))) )
+#define FMSTR_FCAN_DRXI() ( ((FMSTR_FLEXCAN_RXMB)&0x20) ? \
+                            FMSTR_CLRBIT32(FMSTR_CAN_BASE, FMSTR_FCANIER2_OFFSET, (1<<((FMSTR_FLEXCAN_RXMB)-32))):\
+                            FMSTR_CLRBIT32(FMSTR_CAN_BASE, FMSTR_FCANIER1_OFFSET, (1<<(FMSTR_FLEXCAN_RXMB))) )
+
+/* FCAN: read RX status register */
+#define FMSTR_FCAN_TEST_RXFLG() ( ((FMSTR_FLEXCAN_RXMB)&0x20) ? \
+                            FMSTR_TSTBIT32(FMSTR_CAN_BASE, FMSTR_FCANIFR2_OFFSET, (1<<((FMSTR_FLEXCAN_RXMB)-32))):\
+                            FMSTR_TSTBIT32(FMSTR_CAN_BASE, FMSTR_FCANIFR1_OFFSET, (1<<(FMSTR_FLEXCAN_RXMB))) )
+#define FMSTR_FCAN_CLEAR_RXFLG() ( ((FMSTR_FLEXCAN_RXMB)&0x20) ? \
+                            FMSTR_SETREG32(FMSTR_CAN_BASE, FMSTR_FCANIFR2_OFFSET, (1<<((FMSTR_FLEXCAN_RXMB)-32))):\
+                            FMSTR_SETREG32(FMSTR_CAN_BASE, FMSTR_FCANIFR1_OFFSET, (1<<(FMSTR_FLEXCAN_RXMB))) )
+
+/* FCAN: read TX status register */
+#define FMSTR_FCAN_TEST_TXFLG() ( ((FMSTR_FLEXCAN_TXMB)&0x20) ? \
+                            FMSTR_TSTBIT32(FMSTR_CAN_BASE, FMSTR_FCANIFR2_OFFSET, (1<<((FMSTR_FLEXCAN_TXMB)-32))):\
+                            FMSTR_TSTBIT32(FMSTR_CAN_BASE, FMSTR_FCANIFR1_OFFSET, (1<<(FMSTR_FLEXCAN_TXMB))) )
+
+/* FCAN: read TX MB status register */
+#define FMSTR_FCAN_GET_MBSTATUS() (FMSTR_GETREG8(FMSTR_CAN_BASE, FMSTR_FCANTXFG_OFFSET + FMSTR_FCMBCSR + 3)&FMSTR_FCANMB_CODE_MASK)
+
+/* FCAN: id to idr translation */
+#define FMSTR_FCAN_MAKEIDR0(id) ((FMSTR_U8)( ((id)&FMSTR_CAN_EXTID) ? ((((id)>>24)&0x1f) | FMSTR_FCANID0_EXT_FLG) : (((id)>>6)&0x1f) ))
+#define FMSTR_FCAN_MAKEIDR1(id) ((FMSTR_U8)( ((id)&FMSTR_CAN_EXTID) ? ((id)>>16) : ((id)<<2) ))
+#define FMSTR_FCAN_MAKEIDR2(id) ((FMSTR_U8)( ((id)&FMSTR_CAN_EXTID) ? ((id)>>8) : 0 ))
+#define FMSTR_FCAN_MAKEIDR3(id) ((FMSTR_U8)( ((id)&FMSTR_CAN_EXTID) ? (id) : 0 ))
 
+/* FCAN reception, configuring the buffer, just once at the initialization phase */
+#define FMSTR_FCAN_RINIT(idr0, idr1, idr2, idr3) \
+    FMSTR_MACROCODE_BEGIN() \
+        (((idr0)&FMSTR_FCANID0_EXT_FLG) ? \
+        (FMSTR_SETREG16(FMSTR_CAN_BASE, FMSTR_FCANRXFG_OFFSET + FMSTR_FCMBCSR + 2, (FMSTR_FCANMB_CRXVOID<<8 | FMSTR_FCANCTRL_IDE | FMSTR_FCANCTRL_EXT_SRR))) : \
+        (FMSTR_SETREG16(FMSTR_CAN_BASE, FMSTR_FCANRXFG_OFFSET + FMSTR_FCMBCSR + 2, (FMSTR_FCANMB_CRXVOID<<8 |  FMSTR_FCANCTRL_EXT_SRR))));\
+        FMSTR_SETREG32(FMSTR_CAN_BASE, FMSTR_FCANRXFG_OFFSET + FMSTR_FCMBIDR0, ((idr0)<<24) | ((idr1)<<16) | ((idr2)<<8) | (idr3) );\
+    FMSTR_MACROCODE_END()
+
+/* FCAN transmission, configuring the buffer, just once at the initialization phase */
+#define FMSTR_FCAN_TINIT(idr0, idr1, idr2, idr3) \
+    FMSTR_MACROCODE_BEGIN() \
+      (((idr0)&FMSTR_FCANID0_EXT_FLG) ? \
+      (FMSTR_SETREG16(FMSTR_CAN_BASE, FMSTR_FCANTXFG_OFFSET + FMSTR_FCMBCSR + 2, (FMSTR_FCANMB_CTXREADY<<8 | FMSTR_FCANCTRL_IDE))) : \
+      (FMSTR_SETREG16(FMSTR_CAN_BASE, FMSTR_FCANTXFG_OFFSET + FMSTR_FCMBCSR + 2, (FMSTR_FCANMB_CTXREADY<<8 ))));\
+    FMSTR_MACROCODE_END()
+
+/* FCAN reception, configuring the buffer for receiving (each time receiver is re-enabled) */
+#define FMSTR_FCAN_RCFG() \
+    FMSTR_SETREG8(FMSTR_CAN_BASE, FMSTR_FCANRXFG_OFFSET + FMSTR_FCMBCSR + 3, FMSTR_FCANMB_CRXEMPTY)
+
+/* FCAN: CAN transmission */
+typedef struct
+{
+    FMSTR_U8 nDataIx;
+} FMSTR_FCAN_TCTX;
+
+/* FCAN transmission, put one data byte into buffer */
+#define FMSTR_FCAN_TLEN(pctx, len) \
+    FMSTR_SETREG8(FMSTR_CAN_BASE, FMSTR_FCANTXFG_OFFSET+FMSTR_FCMBCSR+2, (FMSTR_U8)((len & 0x0f) | \
+        (FMSTR_GETREG8(FMSTR_CAN_BASE, FMSTR_FCANTXFG_OFFSET+FMSTR_FCMBCSR+2)&(FMSTR_FCANCTRL_IDE | FMSTR_FCANCTRL_EXT_SRR | FMSTR_FCANCTRL_EXT_RTR))))
+
+/* FCAN transmission, put one data byte into buffer */
+#define FMSTR_FCAN_PUTBYTE(pctx, dataByte) \
+    FMSTR_MACROCODE_BEGIN() \
+        FMSTR_SETREG8(FMSTR_CAN_BASE, (FMSTR_FCANTXFG_OFFSET + FMSTR_FCMBDSR0) - (0x3&((pctx)->nDataIx)) + (0x4&((pctx)->nDataIx)), (dataByte) ); \
+        (pctx)->nDataIx++; \
+    FMSTR_MACROCODE_END()
+
+/* FCAN: CAN transmission, configuring the buffer before each transmission */
+#define FMSTR_FCAN_TCFG(pctx) \
+    FMSTR_MACROCODE_BEGIN() \
+        (pctx)->nDataIx = 0; \
+    FMSTR_MACROCODE_END()
+
+/* FCAN: CAN transmission, preparing the buffer before each transmission */
+#define FMSTR_FCAN_TID(pctx, idr0, idr1, idr2, idr3) \
+    FMSTR_MACROCODE_BEGIN() \
+        FMSTR_SETREG32(FMSTR_CAN_BASE, FMSTR_FCANTXFG_OFFSET+FMSTR_FCMBIDR0, ((idr0)<<24) | ((idr1)<<16) | ((idr2)<<8) | (idr3) ); \
+    FMSTR_MACROCODE_END()
+
+/* FCAN transmission, set transmit priority */
+#define FMSTR_FCAN_TPRI(pctx, txPri) /* in FCAN module is not implemented */
+
+/* FCAN transmission, final firing of the buffer */
+#define FMSTR_FCAN_TX(pctx) \
+        FMSTR_SETREG8(FMSTR_CAN_BASE, FMSTR_FCANTXFG_OFFSET + FMSTR_FCMBCSR + 3, (FMSTR_FCANMB_CTXTRANS_ONCE & 0x0f) )
+
+/* FCAN reception */
+typedef struct
+{
+    FMSTR_U8 nDataIx;
+} FMSTR_FCAN_RCTX;
+
+/* FCAN reception, lock frame */
+#define FMSTR_FCAN_RX(pctx) \
+    (pctx)->nDataIx = 0;
+
+/* FCAN reception, test if received message ID matches the one given, TRUE if matching */
+#define FMSTR_FCAN_TEST_RIDR(pctx, idr0, idr1, idr2, idr3) \
+    ( (idr0 & FMSTR_FCANID0_EXT_FLG) ? \
+        /* ext id compare */ \
+        ( ((((idr0)<<24) | ((idr1)<<16) | ((idr2)<<8) | (idr3))&0x1f000000)==((FMSTR_GETREG32(FMSTR_CAN_BASE, FMSTR_FCANRXFG_OFFSET+FMSTR_FCMBIDR0))&0x1f000000) ) : \
+        /* std id compare */ \
+        ( (((idr0)<<8) | (idr1))==((FMSTR_GETREG16(FMSTR_CAN_BASE, FMSTR_FCANRXFG_OFFSET+FMSTR_FCMBIDR0+2))&0x1ffc) ) )
+
+/* FCAN reception, get received frame length */
+#define FMSTR_FCAN_RLEN(pctx) \
+    (FMSTR_GETREG8(FMSTR_CAN_BASE, FMSTR_FCANRXFG_OFFSET+FMSTR_FCMBCSR+2) & 0x0f)
+
+/* FCAN reception, get one received byte */
+#define FMSTR_FCAN_GETBYTE(pctx) \
+        ((FMSTR_U8) (FMSTR_GETREG8(FMSTR_CAN_BASE, (FMSTR_FCANRXFG_OFFSET + FMSTR_FCMBDSR0) - (0x3&((pctx)->nDataIx)) + (0x4&((pctx)->nDataIx)) ))); \
+        (pctx)->nDataIx++
+
+/* FCAN reception, unlock the buffer */
+#define FMSTR_FCAN_RFINISH(pctx) \
+    FMSTR_SETBIT16(FMSTR_CAN_BASE, FMSTR_FCANTMR_OFFSET, 0)
+
+#endif /* __FREEMASTER_KXX_H */
+