/* * Copyright (c) 2023 Vestas Wind Systems A/S * * SPDX-License-Identifier: Apache-2.0 */ #include #include #include #include #include #include #include #include LOG_MODULE_REGISTER(can_tcan4x5x, CONFIG_CAN_LOG_LEVEL); #define DT_DRV_COMPAT ti_tcan4x5x /* * The register definitions correspond to those found in the TI TCAN4550-Q1 datasheet, revision D * June 2022 (SLLSEZ5D). */ /* Device ID1 register */ #define CAN_TCAN4X5X_DEVICE_ID1 0x0000 /* Device ID2 register */ #define CAN_TCAN4X5X_DEVICE_ID2 0x0004 /* Revision register */ #define CAN_TCAN4X5X_REVISION 0x0008 #define CAN_TCAN4X5X_REVISION_SPI_2_REVISION GENMASK(31, 24) #define CAN_TCAN4X5X_REVISION_REV_ID_MAJOR GENMASK(15, 8) #define CAN_TCAN4X5X_REVISION_REV_ID_MINOR GENMASK(7, 0) /* Status register */ #define CAN_TCAN4X5X_STATUS 0x000c #define CAN_TCAN4X5X_STATUS_INTERNAL_READ_ERROR BIT(29) #define CAN_TCAN4X5X_STATUS_INTERNAL_WRITE_ERROR BIT(28) #define CAN_TCAN4X5X_STATUS_INTERNAL_ERROR_LOG_WRITE BIT(27) #define CAN_TCAN4X5X_STATUS_READ_FIFO_UNDERFLOW BIT(26) #define CAN_TCAN4X5X_STATUS_READ_FIFO_EMPTY BIT(25) #define CAN_TCAN4X5X_STATUS_WRITE_FIFO_OVERFLOW BIT(24) #define CAN_TCAN4X5X_STATUS_SPI_END_ERROR BIT(21) #define CAN_TCAN4X5X_STATUS_INVALID_COMMAND BIT(20) #define CAN_TCAN4X5X_STATUS_WRITE_OVERFLOW BIT(19) #define CAN_TCAN4X5X_STATUS_WRITE_UNDERFLOW BIT(18) #define CAN_TCAN4X5X_STATUS_READ_OVERFLOW BIT(17) #define CAN_TCAN4X5X_STATUS_READ_UNDERFLOW BIT(16) #define CAN_TCAN4X5X_STATUS_WRITE_FIFO_AVAILABLE BIT(5) #define CAN_TCAN4X5X_STATUS_READ_FIFO_AVAILABLE BIT(4) #define CAN_TCAN4X5X_STATUS_INTERNAL_ACCESS_ACTIVE BIT(3) #define CAN_TCAN4X5X_STATUS_INTERNAL_ERROR_INTERRUPT BIT(2) #define CAN_TCAN4X5X_STATUS_SPI_ERROR_INTERRUPT BIT(1) #define CAN_TCAN4X5X_STATUS_INTERRUPT BIT(0) /* Mask of clearable status register bits */ #define CAN_TCAN4X5X_STATUS_CLEAR_ALL \ (CAN_TCAN4X5X_STATUS_INTERNAL_READ_ERROR | CAN_TCAN4X5X_STATUS_INTERNAL_WRITE_ERROR | \ CAN_TCAN4X5X_STATUS_INTERNAL_ERROR_LOG_WRITE | CAN_TCAN4X5X_STATUS_READ_FIFO_UNDERFLOW | \ CAN_TCAN4X5X_STATUS_READ_FIFO_EMPTY | CAN_TCAN4X5X_STATUS_WRITE_FIFO_OVERFLOW | \ CAN_TCAN4X5X_STATUS_SPI_END_ERROR | CAN_TCAN4X5X_STATUS_INVALID_COMMAND | \ CAN_TCAN4X5X_STATUS_WRITE_OVERFLOW | CAN_TCAN4X5X_STATUS_WRITE_UNDERFLOW | \ CAN_TCAN4X5X_STATUS_READ_OVERFLOW | CAN_TCAN4X5X_STATUS_READ_UNDERFLOW) /* SPI Error Status Mask register */ #define CAN_TCAN4X5X_SPI_ERROR_STATUS_MASK 0x0010 #define CAN_TCAN4X5X_SPI_ERROR_STATUS_MASK_INTERNAL_READ_ERROR BIT(29) #define CAN_TCAN4X5X_SPI_ERROR_STATUS_MASK_INTERNAL_WRITE_ERROR BIT(28) #define CAN_TCAN4X5X_SPI_ERROR_STATUS_MASK_INTERNAL_ERROR_LOG_WRITE BIT(27) #define CAN_TCAN4X5X_SPI_ERROR_STATUS_MASK_READ_FIFO_UNDERFLOW BIT(26) #define CAN_TCAN4X5X_SPI_ERROR_STATUS_MASK_READ_FIFO_EMPTY BIT(25) #define CAN_TCAN4X5X_SPI_ERROR_STATUS_MASK_WRITE_FIFO_OVERFLOW BIT(24) #define CAN_TCAN4X5X_SPI_ERROR_STATUS_MASK_SPI_END_ERROR BIT(21) #define CAN_TCAN4X5X_SPI_ERROR_STATUS_MASK_INVALID_COMMAND BIT(20) #define CAN_TCAN4X5X_SPI_ERROR_STATUS_MASK_WRITE_OVERFLOW BIT(19) #define CAN_TCAN4X5X_SPI_ERROR_STATUS_MASK_WRITE_UNDERFLOW BIT(18) #define CAN_TCAN4X5X_SPI_ERROR_STATUS_MASK_READ_OVERFLOW BIT(17) #define CAN_TCAN4X5X_SPI_ERROR_STATUS_MASK_READ_UNDERFLOW BIT(16) /* Modes of Operation and Pin Configurations register */ #define CAN_TCAN4X5X_MODE_CONFIG 0x0800 #define CAN_TCAN4X5X_MODE_CONFIG_WAKE_CONFIG GENMASK(31, 30) #define CAN_TCAN4X5X_MODE_CONFIG_WD_TIMER GENMASK(29, 28) #define CAN_TCAN4X5X_MODE_CONFIG_CLK_REF BIT(27) #define CAN_TCAN4X5X_MODE_CONFIG_GPO2_CONFIG GENMASK(23, 22) #define CAN_TCAN4X5X_MODE_CONFIG_TEST_MODE_EN BIT(21) #define CAN_TCAN4X5X_MODE_CONFIG_NWKRQ_VOLTAGE BIT(19) #define CAN_TCAN4X5X_MODE_CONFIG_WD_BIT_SET BIT(18) #define CAN_TCAN4X5X_MODE_CONFIG_WD_ACTION GENMASK(17, 16) #define CAN_TCAN4X5X_MODE_CONFIG_GPIO1_CONFIG GENMASK(15, 14) #define CAN_TCAN4X5X_MODE_CONFIG_FAIL_SAFE_EN BIT(13) #define CAN_TCAN4X5X_MODE_CONFIG_GPIO1_GPO_CONFIG GENMASK(11, 10) #define CAN_TCAN4X5X_MODE_CONFIG_INH_DIS BIT(9) #define CAN_TCAN4X5X_MODE_CONFIG_NWKRQ_CONFIG BIT(8) #define CAN_TCAN4X5X_MODE_CONFIG_MODE_SEL GENMASK(7, 6) #define CAN_TCAN4X5X_MODE_CONFIG_WD_EN BIT(3) #define CAN_TCAN4X5X_MODE_CONFIG_DEVICE_RESET BIT(2) #define CAN_TCAN4X5X_MODE_CONFIG_SWE_DIS BIT(1) #define CAN_TCAN4X5X_MODE_CONFIG_TEST_MODE_CONFIG BIT(0) /* Timestamp Prescaler register */ #define CAN_TCAN4X5X_TIMESTAMP_PRESCALER 0x0804 #define CAN_TCAN4X5X_TIMESTAMP_PRESCALER_MASK GENMASK(7, 0) /* Test Register and Scratch Pad */ #define CAN_TCAN4X5X_TEST_SCRATCH_PAD 0x0808 #define CAN_TCAN4X5X_TEST_SCRATCH_PAD_READ_WRITE GENMASK(31, 16) #define CAN_TCAN4X5X_TEST_SCRATCH_PAD_SCRATCH_PAD GENMASK(15, 0) /* Test register */ #define CAN_TCAN4X5X_TEST 0x0808 #define CAN_TCAN4X5X_TEST_ECC_ERR_FORCE_BIT_SEL GENMASK(21, 16) #define CAN_TCAN4X5X_TEST_ECC_ERR_FORCE BIT(12) #define CAN_TCAN4X5X_TEST_ECC_ERR_CHECK BIT(11) /* Interrupts register */ #define CAN_TCAN4X5X_IR 0x0820 #define CAN_TCAN4X5X_IR_CANBUSNOM BIT(31) #define CAN_TCAN4X5X_IR_SMS BIT(23) #define CAN_TCAN4X5X_IR_UVSUP BIT(22) #define CAN_TCAN4X5X_IR_UVIO BIT(21) #define CAN_TCAN4X5X_IR_PWRON BIT(20) #define CAN_TCAN4X5X_IR_TSD BIT(19) #define CAN_TCAN4X5X_IR_WDTO BIT(18) #define CAN_TCAN4X5X_IR_ECCERR BIT(16) #define CAN_TCAN4X5X_IR_CANINT BIT(15) #define CAN_TCAN4X5X_IR_LWU BIT(14) #define CAN_TCAN4X5X_IR_WKERR BIT(13) #define CAN_TCAN4X5X_IR_CANSLNT BIT(10) #define CAN_TCAN4X5X_IR_CANDOM BIT(8) #define CAN_TCAN4X5X_IR_GLOBALERR BIT(7) #define CAN_TCAN4X5X_IR_WKRQ BIT(6) #define CAN_TCAN4X5X_IR_CANERR BIT(5) #define CAN_TCAN4X5X_IR_SPIERR BIT(3) #define CAN_TCAN4X5X_IR_M_CAN_INT BIT(1) #define CAN_TCAN4X5X_IR_VTWD BIT(0) /* Mask of clearable interrupts register bits */ #define CAN_TCAN4X5X_IR_CLEAR_ALL \ (CAN_TCAN4X5X_IR_SMS | CAN_TCAN4X5X_IR_UVSUP | CAN_TCAN4X5X_IR_UVIO | \ CAN_TCAN4X5X_IR_PWRON | CAN_TCAN4X5X_IR_TSD | CAN_TCAN4X5X_IR_WDTO | \ CAN_TCAN4X5X_IR_ECCERR | CAN_TCAN4X5X_IR_CANINT | CAN_TCAN4X5X_IR_LWU | \ CAN_TCAN4X5X_IR_WKERR | CAN_TCAN4X5X_IR_CANSLNT | CAN_TCAN4X5X_IR_CANDOM) /* MCAN Interrupts register */ #define CAN_TCAN4X5X_MCAN_IR 0x0824 #define CAN_TCAN4X5X_MCAN_IR_ARA BIT(29) #define CAN_TCAN4X5X_MCAN_IR_PED BIT(28) #define CAN_TCAN4X5X_MCAN_IR_PEA BIT(27) #define CAN_TCAN4X5X_MCAN_IR_WDI BIT(26) #define CAN_TCAN4X5X_MCAN_IR_BO BIT(25) #define CAN_TCAN4X5X_MCAN_IR_EW BIT(24) #define CAN_TCAN4X5X_MCAN_IR_EP BIT(23) #define CAN_TCAN4X5X_MCAN_IR_ELO BIT(22) #define CAN_TCAN4X5X_MCAN_IR_BEU BIT(21) #define CAN_TCAN4X5X_MCAN_IR_BEC BIT(20) #define CAN_TCAN4X5X_MCAN_IR_DRX BIT(19) #define CAN_TCAN4X5X_MCAN_IR_TOO BIT(18) #define CAN_TCAN4X5X_MCAN_IR_MRAF BIT(17) #define CAN_TCAN4X5X_MCAN_IR_TSW BIT(16) #define CAN_TCAN4X5X_MCAN_IR_TEFL BIT(15) #define CAN_TCAN4X5X_MCAN_IR_TEFF BIT(14) #define CAN_TCAN4X5X_MCAN_IR_TEFW BIT(13) #define CAN_TCAN4X5X_MCAN_IR_TEFN BIT(12) #define CAN_TCAN4X5X_MCAN_IR_TFE BIT(11) #define CAN_TCAN4X5X_MCAN_IR_TCF BIT(10) #define CAN_TCAN4X5X_MCAN_IR_TC BIT(9) #define CAN_TCAN4X5X_MCAN_IR_HPM BIT(8) #define CAN_TCAN4X5X_MCAN_IR_RF1L BIT(7) #define CAN_TCAN4X5X_MCAN_IR_RF1F BIT(6) #define CAN_TCAN4X5X_MCAN_IR_RF1W BIT(5) #define CAN_TCAN4X5X_MCAN_IR_RF1N BIT(4) #define CAN_TCAN4X5X_MCAN_IR_RF0L BIT(3) #define CAN_TCAN4X5X_MCAN_IR_RF0F BIT(2) #define CAN_TCAN4X5X_MCAN_IR_RF0W BIT(1) #define CAN_TCAN4X5X_MCAN_IR_RF0N BIT(0) /* Interrupt Enables register */ #define CAN_TCAN4X5X_IE 0x0830 #define CAN_TCAN4X5X_IE_UVSUP BIT(22) #define CAN_TCAN4X5X_IE_UVIO BIT(21) #define CAN_TCAN4X5X_IE_TSD BIT(19) #define CAN_TCAN4X5X_IE_ECCERR BIT(16) #define CAN_TCAN4X5X_IE_CANINT BIT(15) #define CAN_TCAN4X5X_IE_LWU BIT(14) #define CAN_TCAN4X5X_IE_CANSLNT BIT(10) #define CAN_TCAN4X5X_IE_CANDOM BIT(8) /* Bosch M_CAN registers base address */ #define CAN_TCAN4X5X_MCAN_BASE 0x1000 /* Bosch M_CAN Message RAM base address and size */ #define CAN_TCAN4X5X_MRAM_BASE 0x8000 #define CAN_TCAN4X5X_MRAM_SIZE 2048 /* TCAN4x5x SPI OP codes */ #define CAN_TCAN4X5X_WRITE_B_FL 0x61 #define CAN_TCAN4X5X_READ_B_FL 0x41 /* TCAN4x5x timing requirements */ #define CAN_TCAN4X5X_T_MODE_STBY_NOM_US 70 #define CAN_TCAN4X5X_T_WAKE_US 50 #define CAN_TCAN4X5X_T_PULSE_WIDTH_US 30 #define CAN_TCAN4X5X_T_RESET_US 1000 /* * Only compile in support for the optional GPIOs if at least one enabled tcan4x5x device tree node * has them. Only the INT GPIO is required. */ #define TCAN4X5X_RST_GPIO_SUPPORT DT_ANY_INST_HAS_PROP_STATUS_OKAY(reset_gpios) #define TCAN4X5X_NWKRQ_GPIO_SUPPORT DT_ANY_INST_HAS_PROP_STATUS_OKAY(device_state_gpios) #define TCAN4X5X_WAKE_GPIO_SUPPORT DT_ANY_INST_HAS_PROP_STATUS_OKAY(device_wake_gpios) struct tcan4x5x_config { struct spi_dt_spec spi; #if TCAN4X5X_RST_GPIO_SUPPORT struct gpio_dt_spec rst_gpio; #endif /* TCAN4X5X_RST_GPIO_SUPPORT */ #if TCAN4X5X_NWKRQ_GPIO_SUPPORT struct gpio_dt_spec nwkrq_gpio; #endif /* TCAN4X5X_NWKRQ_GPIO_SUPPORT */ #if TCAN4X5X_WAKE_GPIO_SUPPORT struct gpio_dt_spec wake_gpio; #endif /* TCAN4X5X_WAKE_GPIO_SUPPORT */ struct gpio_dt_spec int_gpio; uint32_t clk_freq; }; struct tcan4x5x_data { struct gpio_callback int_gpio_cb; struct k_thread int_thread; struct k_sem int_sem; K_KERNEL_STACK_MEMBER(int_stack, CONFIG_CAN_TCAN4X5X_THREAD_STACK_SIZE); }; static int tcan4x5x_read(const struct device *dev, uint16_t addr, void *dst, size_t len) { const struct can_mcan_config *mcan_config = dev->config; const struct tcan4x5x_config *tcan_config = mcan_config->custom; size_t len32 = len / sizeof(uint32_t); uint32_t *dst32 = (uint32_t *)dst; uint8_t cmd[4] = {CAN_TCAN4X5X_READ_B_FL, addr >> 8U & 0xFF, addr & 0xFF, len32 == 256 ? 0U : len32}; uint8_t global_status; const struct spi_buf tx_bufs[] = { {.buf = &cmd, .len = sizeof(cmd)}, }; const struct spi_buf rx_bufs[] = { {.buf = &global_status, .len = sizeof(global_status)}, {.buf = NULL, .len = 3}, {.buf = dst, .len = len}, }; const struct spi_buf_set tx = { .buffers = tx_bufs, .count = ARRAY_SIZE(tx_bufs), }; const struct spi_buf_set rx = { .buffers = rx_bufs, .count = ARRAY_SIZE(rx_bufs), }; int err; int i; if (len == 0) { return 0; } /* Maximum transfer size is 256 32-bit words */ __ASSERT_NO_MSG(len % 4 == 0); __ASSERT_NO_MSG(len32 <= 256); err = spi_transceive_dt(&tcan_config->spi, &tx, &rx); if (err != 0) { LOG_ERR("failed to read addr %u, len %d (err %d)", addr, len, err); return err; } __ASSERT_NO_MSG((global_status & CAN_TCAN4X5X_IR_SPIERR) == 0U); for (i = 0; i < len32; i++) { dst32[i] = sys_be32_to_cpu(dst32[i]); } return 0; } static int tcan4x5x_write(const struct device *dev, uint16_t addr, const void *src, size_t len) { const struct can_mcan_config *mcan_config = dev->config; const struct tcan4x5x_config *tcan_config = mcan_config->custom; size_t len32 = len / sizeof(uint32_t); uint32_t src32[len32]; uint8_t cmd[4] = {CAN_TCAN4X5X_WRITE_B_FL, addr >> 8U & 0xFF, addr & 0xFF, len32 == 256 ? 0U : len32}; uint8_t global_status; const struct spi_buf tx_bufs[] = { {.buf = &cmd, .len = sizeof(cmd)}, {.buf = &src32, .len = len}, }; const struct spi_buf rx_bufs[] = { {.buf = &global_status, .len = sizeof(global_status)}, }; const struct spi_buf_set tx = { .buffers = tx_bufs, .count = ARRAY_SIZE(tx_bufs), }; const struct spi_buf_set rx = { .buffers = rx_bufs, .count = ARRAY_SIZE(rx_bufs), }; int err; int i; if (len == 0) { return 0; } /* Maximum transfer size is 256 32-bit words */ __ASSERT_NO_MSG(len % 4 == 0); __ASSERT_NO_MSG(len32 <= 256); for (i = 0; i < len32; i++) { src32[i] = sys_cpu_to_be32(((uint32_t *)src)[i]); } err = spi_transceive_dt(&tcan_config->spi, &tx, &rx); if (err != 0) { LOG_ERR("failed to write addr %u, len %d (err %d)", addr, len, err); return err; } __ASSERT_NO_MSG((global_status & CAN_TCAN4X5X_IR_SPIERR) == 0U); return 0; } static inline int tcan4x5x_read_tcan_reg(const struct device *dev, uint16_t reg, uint32_t *val) { return tcan4x5x_read(dev, reg, val, sizeof(uint32_t)); } static inline int tcan4x5x_write_tcan_reg(const struct device *dev, uint16_t reg, uint32_t val) { return tcan4x5x_write(dev, reg, &val, sizeof(uint32_t)); } static int tcan4x5x_read_mcan_reg(const struct device *dev, uint16_t reg, uint32_t *val) { return tcan4x5x_read(dev, CAN_TCAN4X5X_MCAN_BASE + reg, val, sizeof(uint32_t)); } static int tcan4x5x_write_mcan_reg(const struct device *dev, uint16_t reg, uint32_t val) { return tcan4x5x_write(dev, CAN_TCAN4X5X_MCAN_BASE + reg, &val, sizeof(uint32_t)); } static int tcan4x5x_read_mcan_mram(const struct device *dev, uint16_t offset, void *dst, size_t len) { return tcan4x5x_read(dev, CAN_TCAN4X5X_MRAM_BASE + offset, dst, len); } static int tcan4x5x_write_mcan_mram(const struct device *dev, uint16_t offset, const void *src, size_t len) { return tcan4x5x_write(dev, CAN_TCAN4X5X_MRAM_BASE + offset, src, len); } static int tcan4x5x_clear_mcan_mram(const struct device *dev, uint16_t offset, size_t len) { static const uint8_t buf[256] = {0}; size_t pending; size_t upto; int err; for (upto = 0; upto < len; upto += pending) { pending = MIN(len - upto, sizeof(buf)); err = tcan4x5x_write_mcan_mram(dev, offset, &buf, pending); if (err != 0) { LOG_ERR("failed to clear message RAM (err %d)", err); return err; } offset += pending; } return 0; } static int tcan4x5x_get_core_clock(const struct device *dev, uint32_t *rate) { const struct can_mcan_config *mcan_config = dev->config; const struct tcan4x5x_config *tcan_config = mcan_config->custom; *rate = tcan_config->clk_freq; return 0; } static void tcan4x5x_int_gpio_callback_handler(const struct device *port, struct gpio_callback *cb, gpio_port_pins_t pins) { struct tcan4x5x_data *tcan_data = CONTAINER_OF(cb, struct tcan4x5x_data, int_gpio_cb); k_sem_give(&tcan_data->int_sem); } static void tcan4x5x_int_thread(void *p1, void *p2, void *p3) { ARG_UNUSED(p2); ARG_UNUSED(p3); const struct device *dev = p1; struct can_mcan_data *mcan_data = dev->data; struct tcan4x5x_data *tcan_data = mcan_data->custom; uint32_t status; uint32_t ir; int err; while (true) { k_sem_take(&tcan_data->int_sem, K_FOREVER); err = tcan4x5x_read_tcan_reg(dev, CAN_TCAN4X5X_IR, &ir); if (err != 0) { LOG_ERR("failed to read interrupt register (err %d)", err); continue; } while (ir != 0U) { err = tcan4x5x_write_tcan_reg(dev, CAN_TCAN4X5X_IR, ir & CAN_TCAN4X5X_IR_CLEAR_ALL); if (err != 0) { LOG_ERR("failed to write interrupt register (err %d)", err); break; } if ((ir & CAN_TCAN4X5X_IR_SPIERR) != 0U) { err = tcan4x5x_read_tcan_reg(dev, CAN_TCAN4X5X_STATUS, &status); if (err != 0) { LOG_ERR("failed to read status register (err %d)", err); continue; } LOG_ERR("SPIERR, status = 0x%08x", status); err = tcan4x5x_write_tcan_reg(dev, CAN_TCAN4X5X_STATUS, status & CAN_TCAN4X5X_STATUS_CLEAR_ALL); if (err != 0) { LOG_ERR("failed to write status register (err %d)", err); continue; } } if ((ir & CAN_TCAN4X5X_IR_M_CAN_INT) != 0U) { can_mcan_line_0_isr(dev); can_mcan_line_1_isr(dev); } err = tcan4x5x_read_tcan_reg(dev, CAN_TCAN4X5X_IR, &ir); if (err != 0) { LOG_ERR("failed to read interrupt register (err %d)", err); break; } } } } static int tcan4x5x_wake(const struct device *dev) { #if TCAN4X5X_WAKE_GPIO_SUPPORT const struct can_mcan_config *mcan_config = dev->config; const struct tcan4x5x_config *tcan_config = mcan_config->custom; int wake_needed = 1; int err; #if TCAN4X5X_NWKRQ_GPIO_SUPPORT if (tcan_config->wake_gpio.port != NULL && tcan_config->nwkrq_gpio.port != NULL) { wake_needed = gpio_pin_get_dt(&tcan_config->nwkrq_gpio); if (wake_needed < 0) { LOG_ERR("failed to get nWKRQ status (err %d)", wake_needed); return wake_needed; }; } #endif /* TCAN4X5X_NWKRQ_GPIO_SUPPORT */ if (tcan_config->wake_gpio.port != NULL && wake_needed != 0) { err = gpio_pin_set_dt(&tcan_config->wake_gpio, 1); if (err != 0) { LOG_ERR("failed to assert WAKE GPIO (err %d)", err); return err; } k_busy_wait(CAN_TCAN4X5X_T_WAKE_US); err = gpio_pin_set_dt(&tcan_config->wake_gpio, 0); if (err != 0) { LOG_ERR("failed to deassert WAKE GPIO (err %d)", err); return err; } } #endif /* TCAN4X5X_WAKE_GPIO_SUPPORT*/ return 0; } static int tcan4x5x_reset(const struct device *dev) { const struct can_mcan_config *mcan_config = dev->config; const struct tcan4x5x_config *tcan_config = mcan_config->custom; int err; err = tcan4x5x_wake(dev); if (err != 0) { return err; } #if TCAN4X5X_RST_GPIO_SUPPORT if (tcan_config->rst_gpio.port != NULL) { err = gpio_pin_set_dt(&tcan_config->rst_gpio, 1); if (err != 0) { LOG_ERR("failed to assert RST GPIO (err %d)", err); return err; } k_busy_wait(CAN_TCAN4X5X_T_PULSE_WIDTH_US); err = gpio_pin_set_dt(&tcan_config->rst_gpio, 0); if (err != 0) { LOG_ERR("failed to deassert RST GPIO (err %d)", err); return err; } } else { #endif /* TCAN4X5X_RST_GPIO_SUPPORT */ err = tcan4x5x_write_tcan_reg(dev, CAN_TCAN4X5X_MODE_CONFIG, CAN_TCAN4X5X_MODE_CONFIG_DEVICE_RESET); if (err != 0) { LOG_ERR("failed to initiate SW reset (err %d)", err); return err; } #if TCAN4X5X_RST_GPIO_SUPPORT } #endif /* TCAN4X5X_RST_GPIO_SUPPORT */ k_busy_wait(CAN_TCAN4X5X_T_RESET_US); return 0; } static int tcan4x5x_init(const struct device *dev) { const struct can_mcan_config *mcan_config = dev->config; const struct tcan4x5x_config *tcan_config = mcan_config->custom; struct can_mcan_data *mcan_data = dev->data; struct tcan4x5x_data *tcan_data = mcan_data->custom; k_tid_t tid; uint32_t reg; int err; /* Initialize int_sem to 1 to ensure any pending IRQ is serviced */ k_sem_init(&tcan_data->int_sem, 1, 1); if (!spi_is_ready_dt(&tcan_config->spi)) { LOG_ERR("SPI bus not ready"); return -ENODEV; } #if TCAN4X5X_RST_GPIO_SUPPORT if (tcan_config->rst_gpio.port != NULL) { if (!gpio_is_ready_dt(&tcan_config->rst_gpio)) { LOG_ERR("RST GPIO not ready"); return -ENODEV; } err = gpio_pin_configure_dt(&tcan_config->rst_gpio, GPIO_OUTPUT_INACTIVE); if (err != 0) { LOG_ERR("failed to configure RST GPIO (err %d)", err); return -ENODEV; } } #endif /* TCAN4X5X_RST_GPIO_SUPPORT */ #if TCAN4X5X_NWKRQ_GPIO_SUPPORT if (tcan_config->nwkrq_gpio.port != NULL) { if (!gpio_is_ready_dt(&tcan_config->nwkrq_gpio)) { LOG_ERR("nWKRQ GPIO not ready"); return -ENODEV; } err = gpio_pin_configure_dt(&tcan_config->nwkrq_gpio, GPIO_INPUT); if (err != 0) { LOG_ERR("failed to configure nWKRQ GPIO (err %d)", err); return -ENODEV; } } #endif /* TCAN4X5X_NWKRQ_GPIO_SUPPORT */ #if TCAN4X5X_WAKE_GPIO_SUPPORT if (tcan_config->wake_gpio.port != NULL) { if (!gpio_is_ready_dt(&tcan_config->wake_gpio)) { LOG_ERR("WAKE GPIO not ready"); return -ENODEV; } err = gpio_pin_configure_dt(&tcan_config->wake_gpio, GPIO_OUTPUT_INACTIVE); if (err != 0) { LOG_ERR("failed to configure WAKE GPIO (err %d)", err); return -ENODEV; } } #endif /* TCAN4X5X_WAKE_GPIO_SUPPORT */ if (!gpio_is_ready_dt(&tcan_config->int_gpio)) { LOG_ERR("nINT GPIO not ready"); return -ENODEV; } err = gpio_pin_configure_dt(&tcan_config->int_gpio, GPIO_INPUT); if (err != 0) { LOG_ERR("failed to configure nINT GPIO (err %d)", err); return -ENODEV; } gpio_init_callback(&tcan_data->int_gpio_cb, tcan4x5x_int_gpio_callback_handler, BIT(tcan_config->int_gpio.pin)); err = gpio_add_callback_dt(&tcan_config->int_gpio, &tcan_data->int_gpio_cb); if (err != 0) { LOG_ERR("failed to add nINT GPIO callback (err %d)", err); return -ENODEV; } /* Initialize nINT GPIO callback and interrupt handler thread to ACK any early SPIERR */ err = gpio_pin_interrupt_configure_dt(&tcan_config->int_gpio, GPIO_INT_EDGE_TO_ACTIVE); if (err != 0) { LOG_ERR("failed to configure nINT GPIO interrupt (err %d)", err); return -ENODEV; } tid = k_thread_create(&tcan_data->int_thread, tcan_data->int_stack, K_KERNEL_STACK_SIZEOF(tcan_data->int_stack), tcan4x5x_int_thread, (void *)dev, NULL, NULL, CONFIG_CAN_TCAN4X5X_THREAD_PRIO, 0, K_NO_WAIT); k_thread_name_set(tid, "tcan4x5x"); /* Reset TCAN */ err = tcan4x5x_reset(dev); if (err != 0) { return -ENODEV; } #if CONFIG_CAN_LOG_LEVEL >= LOG_LEVEL_DBG uint32_t info[3]; /* Read DEVICE_ID1, DEVICE_ID2, and REVISION registers */ err = tcan4x5x_read(dev, CAN_TCAN4X5X_DEVICE_ID1, &info, sizeof(info)); if (err != 0) { return -EIO; } LOG_DBG("%c%c%c%c%c%c%c%c, SPI 2 rev. %lu, device rev. ID %lu.%lu", (char)FIELD_GET(GENMASK(7, 0), info[0]), (char)FIELD_GET(GENMASK(15, 8), info[0]), (char)FIELD_GET(GENMASK(23, 16), info[0]), (char)FIELD_GET(GENMASK(31, 24), info[0]), (char)FIELD_GET(GENMASK(7, 0), info[1]), (char)FIELD_GET(GENMASK(15, 8), info[1]), (char)FIELD_GET(GENMASK(23, 16), info[1]), (char)FIELD_GET(GENMASK(31, 24), info[1]), FIELD_GET(GENMASK(31, 24), info[2]), FIELD_GET(GENMASK(15, 8), info[2]), FIELD_GET(GENMASK(7, 0), info[2])); #endif /* CONFIG_CAN_LOG_LEVEL >= LOG_LEVEL_DBG */ /* Set TCAN4x5x mode normal */ err = tcan4x5x_read_tcan_reg(dev, CAN_TCAN4X5X_MODE_CONFIG, ®); if (err != 0) { LOG_ERR("failed to read configuration register (err %d)", err); return -ENODEV; } reg &= ~(CAN_TCAN4X5X_MODE_CONFIG_MODE_SEL); reg |= FIELD_PREP(CAN_TCAN4X5X_MODE_CONFIG_MODE_SEL, 0x02); reg |= CAN_TCAN4X5X_MODE_CONFIG_WAKE_CONFIG; if (tcan_config->clk_freq == MHZ(20)) { /* 20 MHz frequency reference */ reg &= ~(CAN_TCAN4X5X_MODE_CONFIG_CLK_REF); } else { /* 40 MHz frequency reference */ reg |= CAN_TCAN4X5X_MODE_CONFIG_CLK_REF; } err = tcan4x5x_write_tcan_reg(dev, CAN_TCAN4X5X_MODE_CONFIG, reg); if (err != 0) { LOG_ERR("failed to write configuration register (err %d)", err); return -ENODEV; } /* Wait for standby to normal mode switch */ k_busy_wait(CAN_TCAN4X5X_T_MODE_STBY_NOM_US); /* Configure Message RAM */ err = can_mcan_configure_mram(dev, CAN_TCAN4X5X_MRAM_BASE, CAN_TCAN4X5X_MRAM_BASE); if (err != 0) { return -EIO; } /* Initialize M_CAN */ err = can_mcan_init(dev); if (err != 0) { LOG_ERR("failed to initialize mcan (err %d)", err); return err; } return 0; } static const struct can_driver_api tcan4x5x_driver_api = { .get_capabilities = can_mcan_get_capabilities, .start = can_mcan_start, .stop = can_mcan_stop, .set_mode = can_mcan_set_mode, .set_timing = can_mcan_set_timing, .send = can_mcan_send, .add_rx_filter = can_mcan_add_rx_filter, .remove_rx_filter = can_mcan_remove_rx_filter, #ifdef CONFIG_CAN_MANUAL_RECOVERY_MODE .recover = can_mcan_recover, #endif /* CONFIG_CAN_MANUAL_RECOVERY_MODE */ .get_state = can_mcan_get_state, .set_state_change_callback = can_mcan_set_state_change_callback, .get_core_clock = tcan4x5x_get_core_clock, .get_max_filters = can_mcan_get_max_filters, .timing_min = CAN_MCAN_TIMING_MIN_INITIALIZER, .timing_max = CAN_MCAN_TIMING_MAX_INITIALIZER, #ifdef CONFIG_CAN_FD_MODE .set_timing_data = can_mcan_set_timing_data, .timing_data_min = CAN_MCAN_TIMING_DATA_MIN_INITIALIZER, .timing_data_max = CAN_MCAN_TIMING_DATA_MAX_INITIALIZER, #endif /* CONFIG_CAN_FD_MODE */ }; static const struct can_mcan_ops tcan4x5x_ops = { .read_reg = tcan4x5x_read_mcan_reg, .write_reg = tcan4x5x_write_mcan_reg, .read_mram = tcan4x5x_read_mcan_mram, .write_mram = tcan4x5x_write_mcan_mram, .clear_mram = tcan4x5x_clear_mcan_mram, }; #if TCAN4X5X_RST_GPIO_SUPPORT #define TCAN4X5X_RST_GPIO_INIT(inst) \ .rst_gpio = GPIO_DT_SPEC_INST_GET_OR(inst, reset_gpios, {0}), #else /* TCAN4X5X_RST_GPIO_SUPPORT */ #define TCAN4X5X_RST_GPIO_INIT(inst) #endif /* !TCAN4X5X_RST_GPIO_SUPPORT */ #if TCAN4X5X_NWKRQ_GPIO_SUPPORT #define TCAN4X5X_NWKRQ_GPIO_INIT(inst) \ .nwkrq_gpio = GPIO_DT_SPEC_INST_GET_OR(inst, device_state_gpios, {0}), #else /* TCAN4X5X_NWKRQ_GPIO_SUPPORT */ #define TCAN4X5X_NWKRQ_GPIO_INIT(inst) #endif /* !TCAN4X5X_NWKRQ_GPIO_SUPPORT */ #if TCAN4X5X_WAKE_GPIO_SUPPORT #define TCAN4X5X_WAKE_GPIO_INIT(inst) \ .wake_gpio = GPIO_DT_SPEC_INST_GET_OR(inst, device_wake_gpios, {0}), #else /* TCAN4X5X_WAKE_GPIO_SUPPORT */ #define TCAN4X5X_WAKE_GPIO_INIT(inst) #endif /* !TCAN4X5X_WAKE_GPIO_SUPPORT */ #define TCAN4X5X_INIT(inst) \ BUILD_ASSERT(CAN_MCAN_DT_INST_MRAM_OFFSET(inst) == 0, "MRAM offset must be 0"); \ BUILD_ASSERT(CAN_MCAN_DT_INST_MRAM_ELEMENTS_SIZE(inst) <= CAN_TCAN4X5X_MRAM_SIZE, \ "Insufficient Message RAM size to hold elements"); \ \ CAN_MCAN_DT_INST_BUILD_ASSERT_MRAM_CFG(inst); \ CAN_MCAN_DT_INST_CALLBACKS_DEFINE(inst, tcan4x5x_cbs_##inst); \ \ static const struct tcan4x5x_config tcan4x5x_config_##inst = { \ .spi = SPI_DT_SPEC_INST_GET(inst, SPI_WORD_SET(8), 0), \ .int_gpio = GPIO_DT_SPEC_INST_GET(inst, int_gpios), \ .clk_freq = DT_INST_PROP(inst, clock_frequency), \ TCAN4X5X_RST_GPIO_INIT(inst) \ TCAN4X5X_NWKRQ_GPIO_INIT(inst) \ TCAN4X5X_WAKE_GPIO_INIT(inst) \ }; \ \ static const struct can_mcan_config can_mcan_config_##inst = CAN_MCAN_DT_CONFIG_INST_GET( \ inst, &tcan4x5x_config_##inst, &tcan4x5x_ops, &tcan4x5x_cbs_##inst); \ \ static struct tcan4x5x_data tcan4x5x_data_##inst; \ \ static struct can_mcan_data can_mcan_data_##inst = \ CAN_MCAN_DATA_INITIALIZER(&tcan4x5x_data_##inst); \ \ CAN_DEVICE_DT_INST_DEFINE(inst, tcan4x5x_init, NULL, &can_mcan_data_##inst, \ &can_mcan_config_##inst, POST_KERNEL, CONFIG_CAN_INIT_PRIORITY, \ &tcan4x5x_driver_api); DT_INST_FOREACH_STATUS_OKAY(TCAN4X5X_INIT)