/* * Copyright (c) 2020 Alexander Wachter * * SPDX-License-Identifier: Apache-2.0 * */ #ifndef ZEPHYR_DRIVERS_CAN_MCAN_H_ #define ZEPHYR_DRIVERS_CAN_MCAN_H_ #include #include #include #include #include #ifdef CONFIG_CAN_MCUX_MCAN #define MCAN_DT_PATH DT_NODELABEL(can0) #else #define MCAN_DT_PATH DT_PATH(soc, can) #endif #define NUM_STD_FILTER_ELEMENTS DT_PROP(MCAN_DT_PATH, std_filter_elements) #define NUM_EXT_FILTER_ELEMENTS DT_PROP(MCAN_DT_PATH, ext_filter_elements) #define NUM_RX_FIFO0_ELEMENTS DT_PROP(MCAN_DT_PATH, rx_fifo0_elements) #define NUM_RX_FIFO1_ELEMENTS DT_PROP(MCAN_DT_PATH, rx_fifo0_elements) #define NUM_RX_BUF_ELEMENTS DT_PROP(MCAN_DT_PATH, rx_buffer_elements) #define NUM_TX_BUF_ELEMENTS DT_PROP(MCAN_DT_PATH, tx_buffer_elements) #ifdef CONFIG_CAN_STM32FD #define NUM_STD_FILTER_DATA CONFIG_CAN_MAX_STD_ID_FILTER #define NUM_EXT_FILTER_DATA CONFIG_CAN_MAX_EXT_ID_FILTER #else #define NUM_STD_FILTER_DATA NUM_STD_FILTER_ELEMENTS #define NUM_EXT_FILTER_DATA NUM_EXT_FILTER_ELEMENTS #endif struct can_mcan_rx_fifo_hdr { union { struct { volatile uint32_t ext_id : 29; /* Extended Identifier */ volatile uint32_t rtr : 1; /* Remote Transmission Request*/ volatile uint32_t xtd : 1; /* Extended identifier */ volatile uint32_t esi : 1; /* Error state indicator */ }; struct { volatile uint32_t pad1 : 18; volatile uint32_t std_id : 11; /* Standard Identifier */ volatile uint32_t pad2 : 3; }; }; volatile uint32_t rxts : 16; /* Rx timestamp */ volatile uint32_t dlc : 4; /* Data Length Code */ volatile uint32_t brs : 1; /* Bit Rate Switch */ volatile uint32_t fdf : 1; /* FD Format */ volatile uint32_t res : 2; /* Reserved */ volatile uint32_t fidx : 7; /* Filter Index */ volatile uint32_t anmf : 1; /* Accepted non-matching frame */ } __packed __aligned(4); struct can_mcan_rx_fifo { struct can_mcan_rx_fifo_hdr hdr; union { volatile uint8_t data[64]; volatile uint32_t data_32[16]; }; } __packed __aligned(4); struct can_mcan_mm { volatile uint8_t idx : 5; volatile uint8_t cnt : 3; } __packed; struct can_mcan_tx_buffer_hdr { union { struct { volatile uint32_t ext_id : 29; /* Identifier */ volatile uint32_t rtr : 1; /* Remote Transmission Request*/ volatile uint32_t xtd : 1; /* Extended identifier */ volatile uint32_t esi : 1; /* Error state indicator */ }; struct { volatile uint32_t pad1 : 18; volatile uint32_t std_id : 11; /* Identifier */ volatile uint32_t pad2 : 3; }; }; volatile uint16_t res1; /* Reserved */ volatile uint8_t dlc : 4; /* Data Length Code */ volatile uint8_t brs : 1; /* Bit Rate Switch */ volatile uint8_t fdf : 1; /* FD Format */ volatile uint8_t res2 : 1; /* Reserved */ volatile uint8_t efc : 1; /* Event FIFO control (Store Tx events) */ struct can_mcan_mm mm; /* Message marker */ } __packed __aligned(4); struct can_mcan_tx_buffer { struct can_mcan_tx_buffer_hdr hdr; union { volatile uint8_t data[64]; volatile uint32_t data_32[16]; }; } __packed __aligned(4); #define CAN_MCAN_TE_TX 0x1 /* TX event */ #define CAN_MCAN_TE_TXC 0x2 /* TX event in spite of cancellation */ struct can_mcan_tx_event_fifo { volatile uint32_t id : 29; /* Identifier */ volatile uint32_t rtr : 1; /* Remote Transmission Request*/ volatile uint32_t xtd : 1; /* Extended identifier */ volatile uint32_t esi : 1; /* Error state indicator */ volatile uint16_t txts; /* TX Timestamp */ volatile uint8_t dlc : 4; /* Data Length Code */ volatile uint8_t brs : 1; /* Bit Rate Switch */ volatile uint8_t fdf : 1; /* FD Format */ volatile uint8_t et : 2; /* Event type */ struct can_mcan_mm mm; /* Message marker */ } __packed __aligned(4); #define CAN_MCAN_FCE_DISABLE 0x0 #define CAN_MCAN_FCE_FIFO0 0x1 #define CAN_MCAN_FCE_FIFO1 0x2 #define CAN_MCAN_FCE_REJECT 0x3 #define CAN_MCAN_FCE_PRIO 0x4 #define CAN_MCAN_FCE_PRIO_FIFO0 0x5 #define CAN_MCAN_FCE_PRIO_FIFO1 0x7 #define CAN_MCAN_SFT_RANGE 0x0 #define CAN_MCAN_SFT_DUAL 0x1 #define CAN_MCAN_SFT_MASKED 0x2 #define CAN_MCAN_SFT_DISABLED 0x3 struct can_mcan_std_filter { volatile uint32_t id2 : 11; /* ID2 for dual or range, mask otherwise */ volatile uint32_t res : 5; volatile uint32_t id1 : 11; volatile uint32_t sfce : 3; /* Filter config */ volatile uint32_t sft : 2; /* Filter type */ } __packed __aligned(4); #define CAN_MCAN_EFT_RANGE_XIDAM 0x0 #define CAN_MCAN_EFT_DUAL 0x1 #define CAN_MCAN_EFT_MASKED 0x2 #define CAN_MCAN_EFT_RANGE 0x3 struct can_mcan_ext_filter { volatile uint32_t id1 : 29; volatile uint32_t efce : 3; /* Filter config */ volatile uint32_t id2 : 29; /* ID2 for dual or range, mask otherwise */ volatile uint32_t res : 1; volatile uint32_t eft : 2; /* Filter type */ } __packed __aligned(4); struct can_mcan_msg_sram { volatile struct can_mcan_std_filter std_filt[NUM_STD_FILTER_ELEMENTS]; volatile struct can_mcan_ext_filter ext_filt[NUM_EXT_FILTER_ELEMENTS]; volatile struct can_mcan_rx_fifo rx_fifo0[NUM_RX_FIFO0_ELEMENTS]; volatile struct can_mcan_rx_fifo rx_fifo1[NUM_RX_FIFO1_ELEMENTS]; volatile struct can_mcan_rx_fifo rx_buffer[NUM_RX_BUF_ELEMENTS]; volatile struct can_mcan_tx_event_fifo tx_event_fifo[NUM_TX_BUF_ELEMENTS]; volatile struct can_mcan_tx_buffer tx_buffer[NUM_TX_BUF_ELEMENTS]; } __packed __aligned(4); struct can_mcan_data { struct can_mcan_msg_sram *msg_ram; struct k_mutex inst_mutex; struct k_sem tx_sem; struct k_mutex tx_mtx; can_tx_callback_t tx_fin_cb[NUM_TX_BUF_ELEMENTS]; void *tx_fin_cb_arg[NUM_TX_BUF_ELEMENTS]; can_rx_callback_t rx_cb_std[NUM_STD_FILTER_DATA]; can_rx_callback_t rx_cb_ext[NUM_EXT_FILTER_DATA]; void *cb_arg_std[NUM_STD_FILTER_DATA]; void *cb_arg_ext[NUM_EXT_FILTER_DATA]; can_state_change_callback_t state_change_cb; void *state_change_cb_data; uint32_t std_filt_rtr; uint32_t std_filt_rtr_mask; uint8_t ext_filt_rtr; uint8_t ext_filt_rtr_mask; struct can_mcan_mm mm; bool started; void *custom; } __aligned(4); struct can_mcan_config { struct can_mcan_reg *can; /*!< CAN Registers*/ uint32_t bus_speed; uint32_t bus_speed_data; uint16_t sjw; uint16_t sample_point; uint16_t prop_ts1; uint16_t ts2; #ifdef CONFIG_CAN_FD_MODE uint16_t sample_point_data; uint8_t sjw_data; uint8_t prop_ts1_data; uint8_t ts2_data; uint8_t tx_delay_comp_offset; #endif const struct device *phy; uint32_t max_bitrate; const void *custom; }; struct can_mcan_reg; #ifdef CONFIG_CAN_FD_MODE #define CAN_MCAN_DT_CONFIG_GET(node_id, _custom_config) \ { \ .can = (struct can_mcan_reg *)DT_REG_ADDR_BY_NAME(node_id, m_can), \ .bus_speed = DT_PROP(node_id, bus_speed), \ .sjw = DT_PROP(node_id, sjw), \ .sample_point = DT_PROP_OR(node_id, sample_point, 0), \ .prop_ts1 = DT_PROP_OR(node_id, prop_seg, 0) + \ DT_PROP_OR(node_id, phase_seg1, 0), \ .ts2 = DT_PROP_OR(node_id, phase_seg2, 0), \ .bus_speed_data = DT_PROP(node_id, bus_speed_data), \ .sjw_data = DT_PROP(node_id, sjw_data), \ .sample_point_data = \ DT_PROP_OR(node_id, sample_point_data, 0), \ .prop_ts1_data = DT_PROP_OR(node_id, prop_seg_data, 0) + \ DT_PROP_OR(node_id, phase_seg1_data, 0), \ .ts2_data = DT_PROP_OR(node_id, phase_seg2_data, 0), \ .tx_delay_comp_offset = \ DT_PROP(node_id, tx_delay_comp_offset), \ .phy = DEVICE_DT_GET_OR_NULL(DT_PHANDLE(node_id, phys)), \ .max_bitrate = DT_CAN_TRANSCEIVER_MAX_BITRATE(node_id, 8000000),\ .custom = _custom_config, \ } #else /* CONFIG_CAN_FD_MODE */ #define CAN_MCAN_DT_CONFIG_GET(node_id, _custom_config) \ { \ .can = (struct can_mcan_reg *)DT_REG_ADDR_BY_NAME(node_id, m_can), \ .bus_speed = DT_PROP(node_id, bus_speed), \ .sjw = DT_PROP(node_id, sjw), \ .sample_point = DT_PROP_OR(node_id, sample_point, 0), \ .prop_ts1 = DT_PROP_OR(node_id, prop_seg, 0) + \ DT_PROP_OR(node_id, phase_seg1, 0), \ .ts2 = DT_PROP_OR(node_id, phase_seg2, 0), \ .phy = DEVICE_DT_GET_OR_NULL(DT_PHANDLE(node_id, phys)), \ .max_bitrate = DT_CAN_TRANSCEIVER_MAX_BITRATE(node_id, 1000000),\ .custom = _custom_config, \ } #endif /* !CONFIG_CAN_FD_MODE */ #define CAN_MCAN_DT_CONFIG_INST_GET(inst, _custom_config) \ CAN_MCAN_DT_CONFIG_GET(DT_DRV_INST(inst), _custom_config) #define CAN_MCAN_DATA_INITIALIZER(_msg_ram, _custom_data) \ { \ .msg_ram = _msg_ram, \ .custom = _custom_data, \ } int can_mcan_get_capabilities(const struct device *dev, can_mode_t *cap); int can_mcan_start(const struct device *dev); int can_mcan_stop(const struct device *dev); int can_mcan_set_mode(const struct device *dev, can_mode_t mode); int can_mcan_set_timing(const struct device *dev, const struct can_timing *timing); int can_mcan_set_timing_data(const struct device *dev, const struct can_timing *timing_data); int can_mcan_init(const struct device *dev); void can_mcan_line_0_isr(const struct device *dev); void can_mcan_line_1_isr(const struct device *dev); int can_mcan_recover(const struct device *dev, k_timeout_t timeout); int can_mcan_send(const struct device *dev, const struct can_frame *frame, k_timeout_t timeout, can_tx_callback_t callback, void *user_data); int can_mcan_get_max_filters(const struct device *dev, bool ide); int can_mcan_add_rx_filter(const struct device *dev, can_rx_callback_t callback, void *user_data, const struct can_filter *filter); void can_mcan_remove_rx_filter(const struct device *dev, int filter_id); int can_mcan_get_state(const struct device *dev, enum can_state *state, struct can_bus_err_cnt *err_cnt); void can_mcan_set_state_change_callback(const struct device *dev, can_state_change_callback_t callback, void *user_data); int can_mcan_get_max_bitrate(const struct device *dev, uint32_t *max_bitrate); void can_mcan_enable_configuration_change(const struct device *dev); #endif /* ZEPHYR_DRIVERS_CAN_MCAN_H_ */