The can_kvaser_pci_data_##inst type was supposed to be
can_kvaser_pci_data and not can_kvaser_pci_config. This got unnoticed
because there were no struct members to pre-initialize, and a reference
to the struct was stored using a void pointer.
Signed-off-by: Johan Hedberg <johan.hedberg@intel.com>
A regression was introduced in ef804d8408
when the M_CAN driver was swapped to use the generic dcache API, but
cache management was not enabled on SAM devices.
Enable cache management on SAM devices when CAN_SAM is selected.
Signed-off-by: Perry Hung <perry@genrad.com>
Rename the CAN loopback driver receive function to make the code easier to
understand. Add proper check against NULL for RX callback function
pointers.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Add support for configuring CAN emulation support in QEMU. For now, the
only supported CAN controller is the single-channel Kvaser PCIcan PCI card.
Signed-off-by: Henrik Brix Andersen <henrik@brixandersen.dk>
The can_frame and can_filter structs support a number of different flags
(standard/extended CAN ID type, Remote Transmission Request, CAN-FD format,
Bit Rate Switch, ...). Each of these flags is represented as a discrete bit
in the given structure.
This design pattern requires every user of these structs to initialize all
of these flags to either 0 or 1, which does not scale well for future flag
additions.
Some of these flags have associated enumerations to be used for assignment,
some do not. CAN drivers and protocols tend to rely on the logical value of
the flag instead of using the enumeration, leading to a very fragile
API. The enumerations are used inconsistently between the can_frame and
can_filter structures, which further complicates the API.
Instead, convert these flags to bitfields with separate flag definitions
for the can_frame and can_filter structures. This API allows for future
extensions without having to revisit existing users of the two
structures. Furthermore, this allows driver to easily check for unsupported
flags in the respective API calls.
As this change leads to the "id_mask" field of the can_filter to be the
only mask present in that structure, rename it to "mask" for simplicity.
Fixes: #50776
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Linux kernels before v5.14 do not define the CANFD_FDF flag. The flag is
disregarded within the Linux kernel. It is just there for being able to
reuse the canfd_frame struct for classic CAN frames in Linux user-space
applications.
Define the CANFD_FDF flag locally if not already defined to allow compiling
against older Linux kernel headers.
See the following Linux kernel commit for further details:
02546884221279da2725e87e35348290470363d7
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Change automated searching for files using "IRQ_CONNECT()" API not
including <zephyr/irq.h>.
Signed-off-by: Gerard Marull-Paretas <gerard.marull@nordicsemi.no>
The phys property was not considered during initialization of the
driver config, so that the transceiver was not enabled properly
in case it has an enable/standby pin.
Signed-off-by: Martin Jäger <martin@libre.solar>
Newer ESP32 series MCUs like the ESP32-C3 contain some register changes
incompatible to the original ESP32 and the SJA1000.
The additions in this commit consider these changes and fix the
incompatibilities in the TWAI front-end for the SJA1000 driver.
Signed-off-by: Martin Jäger <martin@libre.solar>
This is a preparation to use the custom implementation in ESP32 TWAI
frontend for newer ESP32 series chips like the ESP32-C3, which have
timing registers incompatible with the SJA1000.
Signed-off-by: Martin Jäger <martin@libre.solar>
Abort any pending transmissions before entering configuration mode and
notify the senders.
Poll for mode change completion instead of assuming mode changes take
immediate effect. This is needed for successfully entering configuration
mode with recently aborted transmissions.
Fixes: #50545
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Abort any pending transmissions before entering freeze mode and notify the
senders.
Fixes: #50545
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Given the recent change to the CAN controller can_send() API wrapper,
assume that a callback is always provided at the driver level.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Given the recent change to the CAN controller can_send() API wrapper,
assume that a callback is always provided at the driver level.
This saves approximately 500 bytes of SRAM on the lpcxpressso55s16 board
when running in default configuration.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Given the recent change to the CAN controller can_send() API wrapper,
assume that a callback is always provided at the driver level.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Given the recent change to the CAN controller can_send() API wrapper,
assume that a callback is always provided at the driver level.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Given the recent change to the CAN controller can_send() API wrapper,
assume that a callback is always provided at the driver level.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Given the recent change to the CAN controller can_send() API wrapper,
assume that a callback is always provided at the driver level.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Given the recent change to the CAN controller can_send() API wrapper,
assume that a callback is always provided at the driver level.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Given the recent change to the CAN controller can_send() API wrapper,
assume that a callback is always provided at the driver level.
This saves approximately 500 bytes of SRAM on the frdm_k64f board, while on
the mimxrt1024_evk board the saving is approximately 2.5 kbytes of SRAM,
both when running in default configuration.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Provide a default, internal callback to CAN controller drivers
implementation of can_send() if no callback was provided by the caller.
This allows for simplifying the CAN driver implementations of can_send() as
these no longer need special handling for callback/no callback operation.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
The receive path for the Renesas R-Car CAN controller supports two RX
FIFOs, which are currently configured for standard 11-bit CAN ID data
frames in FIFO0, and extended 29-bit CAN ID data frames in FIFO1.
As this leaves no room for matching remote transmission request (RTR)
frames, have the driver return -ENOTSUP instead of silently accepting RTR
filters.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
With the move to start/stop functions the transceiver is not expected
to be enabled after driver initialization.
Signed-off-by: Thomas Stranger <thomas.stranger@outlook.com>
Up until now, the Zephyr CAN controller drivers set a default bitrate (or
timing) specified via devicetree and start the CAN controller in their
respective driver initialization functions.
This is fine for CAN nodes using only one fixed bitrate, but if the bitrate
is set by the user (e.g. via a DIP-switch or other HMI which is very
common), the CAN driver will still initialise with the default
bitrate/timing at boot and use this until the application has determined
the requested bitrate/timing and set it using
can_set_bitrate()/can_set_timing().
During this period, the CAN node will potentially destroy valid CAN frames
on the CAN bus (which is using the soon-to-be-set-by-the-application
bitrate) by sending error frames. This causes interruptions to the ongoing
CAN bus traffic when a Zephyr-based CAN node connected to the bus is
(re-)booted.
Instead, require all configuration (setting bitrate, timing, or mode) to
take place when the CAN controller is stopped. This maps nicely to entering
"reset mode" (called "configuration mode" or "freeze mode" for some CAN
controller implementations) when stopping and exiting this mode when
starting the CAN controller.
Fixes: #45304
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
This driver provides an interface to SocketCAN interfaces of the Linux
system running a Zephyr application with the native_posix board. These
interfaces may be virtual or actual CAN buses.
Signed-off-by: Martin Jäger <martin@libre.solar>
Update the GPIO-controlled CAN transceiver driver to use the
DT_HAS_CAN_TRANSCEIVER_GPIO_ENABLED Kconfig symbol to expose the driver and
enable it by default based on devicetree.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Remove the CAN_STM32FD_CLOCK_DIVISOR configuration option,
and add configuration via dts property clk-divider instead.
Signed-off-by: Thomas Stranger <thomas.stranger@outlook.com>
The configurable CAN clock divider CAN_STM32FD_CLOCK_DIVISOR
was not applied during initialization, because write protection
was not disabled.
While the clock divider was not applied, it was still used in clock rate
calculation, therefore resulting in incorrect bus speed setup.
Signed-off-by: Thomas Stranger <thomas.stranger@outlook.com>
Use domain clocks if they are defined in dts.
Until now domain clock sources could be selected via kconfig.
STM32 platform now can configure domain clock sources via
clock control driver, therefore this commit makes use of it.
The configuration is shared between canfd instances, so a domain clock
has to be defined for only one instance. Otherwise, only the
configuration from the latest initialized instance will remain.
The dependency on clock source PCLK1 for CAN_STM32FD_CLOCK_DIVISOR
was removed, because the divider also divides other clocks.
Note that setting that divider does not work at all at the moment,
because the write protection is not disabled.
Signed-off-by: Thomas Stranger <thomas.stranger@outlook.com>
As of today <zephyr/zephyr.h> is 100% equivalent to <zephyr/kernel.h>.
This patch proposes to then include <zephyr/kernel.h> instead of
<zephyr/zephyr.h> since it is more clear that you are including the
Kernel APIs and (probably) nothing else. <zephyr/zephyr.h> sounds like a
catch-all header that may be confusing. Most applications need to
include a bunch of other things to compile, e.g. driver headers or
subsystem headers like BT, logging, etc.
The idea of a catch-all header in Zephyr is probably not feasible
anyway. Reason is that Zephyr is not a library, like it could be for
example `libpython`. Zephyr provides many utilities nowadays: a kernel,
drivers, subsystems, etc and things will likely grow. A catch-all header
would be massive, difficult to keep up-to-date. It is also likely that
an application will only build a small subset. Note that subsystem-level
headers may use a catch-all approach to make things easier, though.
NOTE: This patch is **NOT** removing the header, just removing its usage
in-tree. I'd advocate for its deprecation (add a #warning on it), but I
understand many people will have concerns.
Signed-off-by: Gerard Marull-Paretas <gerard.marull@nordicsemi.no>
Many device pointers are initialized at compile and never changed. This
means that the device pointer can be constified (immutable).
Automated using:
```
perl -i -pe 's/const struct device \*(?!const)(.*)= DEVICE/const struct
device *const $1= DEVICE/g' **/*.c
```
Signed-off-by: Gerard Marull-Paretas <gerard.marull@nordicsemi.no>
Change the error code for can_send() when the CAN controller is in bus off
state from -ENETDOWN to -ENETUNREACH.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Rename the can_state enumerations to contain the word STATE to make their
meaning more clear:
- CAN_ERROR_ACTIVE => CAN_STATE_ERROR_ACTIVE
- CAN_ERROR_WARNING => CAN_STATE_ERROR_WARNING
- CAN_ERROR_PASSIVE => CAN_STATE_ERROR_PASSIVE
- CAN_BUS_OFF => CAN_STATE_BUS_OFF
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Expand the error return values reported by the CAN timing calculation
functions to be able to distinguish between an an out of range
bitrate/sample point, an unsupported bitrate, and a resulting sample point
outside the guard limit.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Move the check for the maximum allowed CAN bitrate to the corresponding
can_calc_timing()/can_calc_timing_data() function.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Johan Hedberg