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zephyr/drivers/can/can_mcp2515.c

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/*
* Copyright (c) 2018 Karsten Koenig
*
* SPDX-License-Identifier: Apache-2.0
*/
#define DT_DRV_COMPAT microchip_mcp2515
#include <zephyr/kernel.h>
#include <zephyr/device.h>
#include <zephyr/drivers/can/transceiver.h>
#include <zephyr/drivers/spi.h>
#include <zephyr/drivers/gpio.h>
#include <zephyr/logging/log.h>
LOG_MODULE_REGISTER(can_mcp2515, CONFIG_CAN_LOG_LEVEL);
#include "can_mcp2515.h"
#define SP_IS_SET(inst) DT_INST_NODE_HAS_PROP(inst, sample_point) ||
/* Macro to exclude the sample point algorithm from compilation if not used
* Without the macro, the algorithm would always waste ROM
*/
#define USE_SP_ALGO (DT_INST_FOREACH_STATUS_OKAY(SP_IS_SET) 0)
#define SP_AND_TIMING_NOT_SET(inst) \
(!DT_INST_NODE_HAS_PROP(inst, sample_point) && \
!(DT_INST_NODE_HAS_PROP(inst, prop_seg) && \
DT_INST_NODE_HAS_PROP(inst, phase_seg1) && \
DT_INST_NODE_HAS_PROP(inst, phase_seg2))) ||
#if DT_INST_FOREACH_STATUS_OKAY(SP_AND_TIMING_NOT_SET) 0
#error You must either set a sampling-point or timings (phase-seg* and prop-seg)
#endif
/* Timeout for changing mode */
#define MCP2515_MODE_CHANGE_TIMEOUT_USEC 1000
#define MCP2515_MODE_CHANGE_RETRIES 100
#define MCP2515_MODE_CHANGE_DELAY \
K_USEC(MCP2515_MODE_CHANGE_TIMEOUT_USEC / MCP2515_MODE_CHANGE_RETRIES)
static int mcp2515_cmd_soft_reset(const struct device *dev)
{
const struct mcp2515_config *dev_cfg = dev->config;
uint8_t cmd_buf[] = { MCP2515_OPCODE_RESET };
const struct spi_buf tx_buf = {
.buf = cmd_buf, .len = sizeof(cmd_buf),
};
const struct spi_buf_set tx = {
.buffers = &tx_buf, .count = 1U
};
return spi_write_dt(&dev_cfg->bus, &tx);
}
static int mcp2515_cmd_bit_modify(const struct device *dev, uint8_t reg_addr,
uint8_t mask,
uint8_t data)
{
const struct mcp2515_config *dev_cfg = dev->config;
uint8_t cmd_buf[] = { MCP2515_OPCODE_BIT_MODIFY, reg_addr, mask, data };
const struct spi_buf tx_buf = {
.buf = cmd_buf, .len = sizeof(cmd_buf),
};
const struct spi_buf_set tx = {
.buffers = &tx_buf, .count = 1U
};
return spi_write_dt(&dev_cfg->bus, &tx);
}
static int mcp2515_cmd_write_reg(const struct device *dev, uint8_t reg_addr,
uint8_t *buf_data, uint8_t buf_len)
{
const struct mcp2515_config *dev_cfg = dev->config;
uint8_t cmd_buf[] = { MCP2515_OPCODE_WRITE, reg_addr };
struct spi_buf tx_buf[] = {
{ .buf = cmd_buf, .len = sizeof(cmd_buf) },
{ .buf = buf_data, .len = buf_len }
};
const struct spi_buf_set tx = {
.buffers = tx_buf, .count = ARRAY_SIZE(tx_buf)
};
return spi_write_dt(&dev_cfg->bus, &tx);
}
/*
* Load TX buffer instruction
*
* When loading a transmit buffer, reduces the overhead of a normal WRITE
* command by placing the Address Pointer at one of six locations, as
* selected by parameter abc.
*
* 0: TX Buffer 0, Start at TXB0SIDH (0x31)
* 1: TX Buffer 0, Start at TXB0D0 (0x36)
* 2: TX Buffer 1, Start at TXB1SIDH (0x41)
* 3: TX Buffer 1, Start at TXB1D0 (0x46)
* 4: TX Buffer 2, Start at TXB2SIDH (0x51)
* 5: TX Buffer 2, Start at TXB2D0 (0x56)
*/
static int mcp2515_cmd_load_tx_buffer(const struct device *dev, uint8_t abc,
uint8_t *buf_data, uint8_t buf_len)
{
const struct mcp2515_config *dev_cfg = dev->config;
__ASSERT(abc <= 5, "abc <= 5");
uint8_t cmd_buf[] = { MCP2515_OPCODE_LOAD_TX_BUFFER | abc };
struct spi_buf tx_buf[] = {
{ .buf = cmd_buf, .len = sizeof(cmd_buf) },
{ .buf = buf_data, .len = buf_len }
};
const struct spi_buf_set tx = {
.buffers = tx_buf, .count = ARRAY_SIZE(tx_buf)
};
return spi_write_dt(&dev_cfg->bus, &tx);
}
/*
* Request-to-Send Instruction
*
* Parameter nnn is the combination of bits at positions 0, 1 and 2 in the RTS
* opcode that respectively initiate transmission for buffers TXB0, TXB1 and
* TXB2.
*/
static int mcp2515_cmd_rts(const struct device *dev, uint8_t nnn)
{
const struct mcp2515_config *dev_cfg = dev->config;
__ASSERT(nnn < BIT(MCP2515_TX_CNT), "nnn < BIT(MCP2515_TX_CNT)");
uint8_t cmd_buf[] = { MCP2515_OPCODE_RTS | nnn };
struct spi_buf tx_buf[] = {
{ .buf = cmd_buf, .len = sizeof(cmd_buf) }
};
const struct spi_buf_set tx = {
.buffers = tx_buf, .count = ARRAY_SIZE(tx_buf)
};
return spi_write_dt(&dev_cfg->bus, &tx);
}
static int mcp2515_cmd_read_reg(const struct device *dev, uint8_t reg_addr,
uint8_t *buf_data, uint8_t buf_len)
{
const struct mcp2515_config *dev_cfg = dev->config;
uint8_t cmd_buf[] = { MCP2515_OPCODE_READ, reg_addr };
struct spi_buf tx_buf[] = {
{ .buf = cmd_buf, .len = sizeof(cmd_buf) },
{ .buf = NULL, .len = buf_len }
};
const struct spi_buf_set tx = {
.buffers = tx_buf, .count = ARRAY_SIZE(tx_buf)
};
struct spi_buf rx_buf[] = {
{ .buf = NULL, .len = sizeof(cmd_buf) },
{ .buf = buf_data, .len = buf_len }
};
const struct spi_buf_set rx = {
.buffers = rx_buf, .count = ARRAY_SIZE(rx_buf)
};
return spi_transceive_dt(&dev_cfg->bus, &tx, &rx);
}
/*
* Read RX Buffer instruction
*
* When reading a receive buffer, reduces the overhead of a normal READ
* command by placing the Address Pointer at one of four locations selected by
* parameter nm:
* 0: Receive Buffer 0, Start at RXB0SIDH (0x61)
* 1: Receive Buffer 0, Start at RXB0D0 (0x66)
* 2: Receive Buffer 1, Start at RXB1SIDH (0x71)
* 3: Receive Buffer 1, Start at RXB1D0 (0x76)
*/
static int mcp2515_cmd_read_rx_buffer(const struct device *dev, uint8_t nm,
uint8_t *buf_data, uint8_t buf_len)
{
const struct mcp2515_config *dev_cfg = dev->config;
__ASSERT(nm <= 0x03, "nm <= 0x03");
uint8_t cmd_buf[] = { MCP2515_OPCODE_READ_RX_BUFFER | (nm << 1) };
struct spi_buf tx_buf[] = {
{ .buf = cmd_buf, .len = sizeof(cmd_buf) },
{ .buf = NULL, .len = buf_len }
};
const struct spi_buf_set tx = {
.buffers = tx_buf, .count = ARRAY_SIZE(tx_buf)
};
struct spi_buf rx_buf[] = {
{ .buf = NULL, .len = sizeof(cmd_buf) },
{ .buf = buf_data, .len = buf_len }
};
const struct spi_buf_set rx = {
.buffers = rx_buf, .count = ARRAY_SIZE(rx_buf)
};
return spi_transceive_dt(&dev_cfg->bus, &tx, &rx);
}
static void mcp2515_convert_canframe_to_mcp2515frame(const struct can_frame
*source, uint8_t *target)
{
uint8_t rtr;
uint8_t dlc;
uint8_t data_idx = 0U;
if ((source->flags & CAN_FRAME_IDE) != 0) {
target[MCP2515_FRAME_OFFSET_SIDH] = source->id >> 21;
target[MCP2515_FRAME_OFFSET_SIDL] =
(((source->id >> 18) & 0x07) << 5) | (BIT(3)) |
((source->id >> 16) & 0x03);
target[MCP2515_FRAME_OFFSET_EID8] = source->id >> 8;
target[MCP2515_FRAME_OFFSET_EID0] = source->id;
} else {
target[MCP2515_FRAME_OFFSET_SIDH] = source->id >> 3;
target[MCP2515_FRAME_OFFSET_SIDL] =
(source->id & 0x07) << 5;
}
rtr = (source->flags & CAN_FRAME_RTR) != 0 ? BIT(6) : 0;
dlc = (source->dlc) & 0x0F;
target[MCP2515_FRAME_OFFSET_DLC] = rtr | dlc;
for (; data_idx < CAN_MAX_DLC; data_idx++) {
target[MCP2515_FRAME_OFFSET_D0 + data_idx] =
source->data[data_idx];
}
}
static void mcp2515_convert_mcp2515frame_to_canframe(const uint8_t *source,
struct can_frame *target)
{
uint8_t data_idx = 0U;
memset(target, 0, sizeof(*target));
if (source[MCP2515_FRAME_OFFSET_SIDL] & BIT(3)) {
target->flags |= CAN_FRAME_IDE;
target->id =
(source[MCP2515_FRAME_OFFSET_SIDH] << 21) |
((source[MCP2515_FRAME_OFFSET_SIDL] >> 5) << 18) |
((source[MCP2515_FRAME_OFFSET_SIDL] & 0x03) << 16) |
(source[MCP2515_FRAME_OFFSET_EID8] << 8) |
source[MCP2515_FRAME_OFFSET_EID0];
} else {
target->id = (source[MCP2515_FRAME_OFFSET_SIDH] << 3) |
(source[MCP2515_FRAME_OFFSET_SIDL] >> 5);
}
target->dlc = source[MCP2515_FRAME_OFFSET_DLC] & 0x0F;
if ((source[MCP2515_FRAME_OFFSET_DLC] & BIT(6)) != 0) {
target->flags |= CAN_FRAME_RTR;
}
for (; data_idx < CAN_MAX_DLC; data_idx++) {
target->data[data_idx] = source[MCP2515_FRAME_OFFSET_D0 +
data_idx];
}
}
const int mcp2515_set_mode_int(const struct device *dev, uint8_t mcp2515_mode)
{
int retries = MCP2515_MODE_CHANGE_RETRIES;
uint8_t canstat;
mcp2515_cmd_bit_modify(dev, MCP2515_ADDR_CANCTRL,
MCP2515_CANCTRL_MODE_MASK,
mcp2515_mode << MCP2515_CANCTRL_MODE_POS);
mcp2515_cmd_read_reg(dev, MCP2515_ADDR_CANSTAT, &canstat, 1);
while (((canstat & MCP2515_CANSTAT_MODE_MASK) >> MCP2515_CANSTAT_MODE_POS)
!= mcp2515_mode) {
if (--retries < 0) {
LOG_ERR("Timeout trying to set MCP2515 operation mode");
return -EIO;
}
k_sleep(MCP2515_MODE_CHANGE_DELAY);
mcp2515_cmd_read_reg(dev, MCP2515_ADDR_CANSTAT, &canstat, 1);
}
return 0;
}
static void mcp2515_tx_done(const struct device *dev, uint8_t tx_idx, int status)
{
struct mcp2515_data *dev_data = dev->data;
can_tx_callback_t callback = dev_data->tx_cb[tx_idx].cb;
if (callback != NULL) {
callback(dev, status, dev_data->tx_cb[tx_idx].cb_arg);
dev_data->tx_cb[tx_idx].cb = NULL;
k_mutex_lock(&dev_data->mutex, K_FOREVER);
dev_data->tx_busy_map &= ~BIT(tx_idx);
k_mutex_unlock(&dev_data->mutex);
k_sem_give(&dev_data->tx_sem);
}
}
static int mcp2515_get_core_clock(const struct device *dev, uint32_t *rate)
{
const struct mcp2515_config *dev_cfg = dev->config;
*rate = dev_cfg->osc_freq / 2;
return 0;
}
static int mcp2515_get_max_filters(const struct device *dev, bool ide)
{
ARG_UNUSED(ide);
return CONFIG_CAN_MAX_FILTER;
}
static int mcp2515_get_max_bitrate(const struct device *dev, uint32_t *max_bitrate)
{
const struct mcp2515_config *dev_cfg = dev->config;
*max_bitrate = dev_cfg->max_bitrate;
return 0;
}
static int mcp2515_set_timing(const struct device *dev,
const struct can_timing *timing)
{
struct mcp2515_data *dev_data = dev->data;
int ret;
if (!timing) {
return -EINVAL;
}
if (dev_data->started) {
return -EBUSY;
}
/* CNF3, CNF2, CNF1, CANINTE */
uint8_t config_buf[4];
/* CNF1; SJW<7:6> | BRP<5:0> */
__ASSERT(timing->prescaler > 0, "Prescaler should be bigger than zero");
uint8_t brp = timing->prescaler - 1;
if (timing->sjw != CAN_SJW_NO_CHANGE) {
dev_data->sjw = (timing->sjw - 1) << 6;
}
uint8_t cnf1 = dev_data->sjw | brp;
/* CNF2; BTLMODE<7>|SAM<6>|PHSEG1<5:3>|PRSEG<2:0> */
const uint8_t btlmode = 1 << 7;
const uint8_t sam = 0 << 6;
const uint8_t phseg1 = (timing->phase_seg1 - 1) << 3;
const uint8_t prseg = (timing->prop_seg - 1);
const uint8_t cnf2 = btlmode | sam | phseg1 | prseg;
/* CNF3; SOF<7>|WAKFIL<6>|UND<5:3>|PHSEG2<2:0> */
const uint8_t sof = 0 << 7;
const uint8_t wakfil = 0 << 6;
const uint8_t und = 0 << 3;
const uint8_t phseg2 = (timing->phase_seg2 - 1);
const uint8_t cnf3 = sof | wakfil | und | phseg2;
const uint8_t caninte = MCP2515_INTE_RX0IE | MCP2515_INTE_RX1IE |
MCP2515_INTE_TX0IE | MCP2515_INTE_TX1IE |
MCP2515_INTE_TX2IE | MCP2515_INTE_ERRIE;
/* Receive everything, filtering done in driver, RXB0 roll over into
* RXB1 */
const uint8_t rx0_ctrl = BIT(6) | BIT(5) | BIT(2);
const uint8_t rx1_ctrl = BIT(6) | BIT(5);
__ASSERT(timing->sjw <= 4, "1 <= SJW <= 4");
__ASSERT((timing->prop_seg >= 1) && (timing->prop_seg <= 8),
"1 <= PROP <= 8");
__ASSERT((timing->phase_seg1 >= 1) && (timing->phase_seg1 <= 8),
"1 <= BS1 <= 8");
__ASSERT((timing->phase_seg2 >= 2) && (timing->phase_seg2 <= 8),
"2 <= BS2 <= 8");
__ASSERT(timing->prop_seg + timing->phase_seg1 >= timing->phase_seg2,
"PROP + BS1 >= BS2");
__ASSERT(timing->phase_seg2 > timing->sjw, "BS2 > SJW");
config_buf[0] = cnf3;
config_buf[1] = cnf2;
config_buf[2] = cnf1;
config_buf[3] = caninte;
k_mutex_lock(&dev_data->mutex, K_FOREVER);
ret = mcp2515_cmd_write_reg(dev, MCP2515_ADDR_CNF3, config_buf,
sizeof(config_buf));
if (ret < 0) {
LOG_ERR("Failed to write the configuration [%d]", ret);
goto done;
}
ret = mcp2515_cmd_bit_modify(dev, MCP2515_ADDR_RXB0CTRL, rx0_ctrl,
rx0_ctrl);
if (ret < 0) {
LOG_ERR("Failed to write RXB0CTRL [%d]", ret);
goto done;
}
ret = mcp2515_cmd_bit_modify(dev, MCP2515_ADDR_RXB1CTRL, rx1_ctrl,
rx1_ctrl);
if (ret < 0) {
LOG_ERR("Failed to write RXB1CTRL [%d]", ret);
goto done;
}
done:
k_mutex_unlock(&dev_data->mutex);
return ret;
}
static int mcp2515_get_capabilities(const struct device *dev, can_mode_t *cap)
{
ARG_UNUSED(dev);
*cap = CAN_MODE_NORMAL | CAN_MODE_LISTENONLY | CAN_MODE_LOOPBACK;
return 0;
}
static int mcp2515_start(const struct device *dev)
{
const struct mcp2515_config *dev_cfg = dev->config;
struct mcp2515_data *dev_data = dev->data;
int ret;
if (dev_data->started) {
return -EALREADY;
}
if (dev_cfg->phy != NULL) {
ret = can_transceiver_enable(dev_cfg->phy);
if (ret != 0) {
LOG_ERR("Failed to enable CAN transceiver [%d]", ret);
return ret;
}
}
k_mutex_lock(&dev_data->mutex, K_FOREVER);
ret = mcp2515_set_mode_int(dev, dev_data->mcp2515_mode);
if (ret < 0) {
LOG_ERR("Failed to set the mode [%d]", ret);
if (dev_cfg->phy != NULL) {
/* Attempt to disable the CAN transceiver in case of error */
(void)can_transceiver_disable(dev_cfg->phy);
}
} else {
dev_data->started = true;
}
k_mutex_unlock(&dev_data->mutex);
return ret;
}
static int mcp2515_stop(const struct device *dev)
{
const struct mcp2515_config *dev_cfg = dev->config;
struct mcp2515_data *dev_data = dev->data;
int ret;
int i;
if (!dev_data->started) {
return -EALREADY;
}
k_mutex_lock(&dev_data->mutex, K_FOREVER);
/* Abort any pending transmissions before entering configuration mode */
mcp2515_cmd_bit_modify(dev, MCP2515_ADDR_TXB0CTRL,
MCP2515_TXBNCTRL_TXREQ_MASK, 0);
#if MCP2515_TX_CNT == 2
mcp2515_cmd_bit_modify(dev, MCP2515_ADDR_TXB1CTRL,
MCP2515_TXBNCTRL_TXREQ_MASK, 0);
#endif /* MCP2515_TX_CNT == 2 */
#if MCP2515_TX_CNT == 3
mcp2515_cmd_bit_modify(dev, MCP2515_ADDR_TXB2CTRL,
MCP2515_TXBNCTRL_TXREQ_MASK, 0);
#endif /* MCP2515_TX_CNT == 3 */
ret = mcp2515_set_mode_int(dev, MCP2515_MODE_CONFIGURATION);
if (ret < 0) {
LOG_ERR("Failed to enter configuration mode [%d]", ret);
k_mutex_unlock(&dev_data->mutex);
return ret;
}
dev_data->started = false;
k_mutex_unlock(&dev_data->mutex);
for (i = 0; i < MCP2515_TX_CNT; i++) {
mcp2515_tx_done(dev, i, -ENETDOWN);
}
if (dev_cfg->phy != NULL) {
ret = can_transceiver_disable(dev_cfg->phy);
if (ret != 0) {
LOG_ERR("Failed to disable CAN transceiver [%d]", ret);
return ret;
}
}
return 0;
}
static int mcp2515_set_mode(const struct device *dev, can_mode_t mode)
{
struct mcp2515_data *dev_data = dev->data;
if (dev_data->started) {
return -EBUSY;
}
switch (mode) {
case CAN_MODE_NORMAL:
dev_data->mcp2515_mode = MCP2515_MODE_NORMAL;
break;
case CAN_MODE_LISTENONLY:
dev_data->mcp2515_mode = MCP2515_MODE_SILENT;
break;
case CAN_MODE_LOOPBACK:
dev_data->mcp2515_mode = MCP2515_MODE_LOOPBACK;
break;
default:
LOG_ERR("Unsupported CAN Mode %u", mode);
return -ENOTSUP;
}
return 0;
}
static int mcp2515_send(const struct device *dev,
const struct can_frame *frame,
k_timeout_t timeout, can_tx_callback_t callback,
void *user_data)
{
struct mcp2515_data *dev_data = dev->data;
uint8_t tx_idx = 0U;
uint8_t abc;
uint8_t nnn;
uint8_t len;
uint8_t tx_frame[MCP2515_FRAME_LEN];
__ASSERT_NO_MSG(callback != NULL);
if (frame->dlc > CAN_MAX_DLC) {
LOG_ERR("DLC of %d exceeds maximum (%d)",
frame->dlc, CAN_MAX_DLC);
return -EINVAL;
}
if ((frame->flags & ~(CAN_FRAME_IDE | CAN_FRAME_RTR)) != 0) {
LOG_ERR("unsupported CAN frame flags 0x%02x", frame->flags);
return -ENOTSUP;
}
if (!dev_data->started) {
return -ENETDOWN;
}
if (k_sem_take(&dev_data->tx_sem, timeout) != 0) {
return -EAGAIN;
}
k_mutex_lock(&dev_data->mutex, K_FOREVER);
/* find a free tx slot */
for (; tx_idx < MCP2515_TX_CNT; tx_idx++) {
if ((BIT(tx_idx) & dev_data->tx_busy_map) == 0) {
dev_data->tx_busy_map |= BIT(tx_idx);
break;
}
}
k_mutex_unlock(&dev_data->mutex);
if (tx_idx == MCP2515_TX_CNT) {
LOG_WRN("no free tx slot available");
return -EIO;
}
dev_data->tx_cb[tx_idx].cb = callback;
dev_data->tx_cb[tx_idx].cb_arg = user_data;
mcp2515_convert_canframe_to_mcp2515frame(frame, tx_frame);
/* Address Pointer selection */
abc = 2 * tx_idx;
/* Calculate minimum length to transfer */
len = sizeof(tx_frame) - CAN_MAX_DLC + frame->dlc;
mcp2515_cmd_load_tx_buffer(dev, abc, tx_frame, len);
/* request tx slot transmission */
nnn = BIT(tx_idx);
mcp2515_cmd_rts(dev, nnn);
return 0;
}
static int mcp2515_add_rx_filter(const struct device *dev,
can_rx_callback_t rx_cb,
void *cb_arg,
const struct can_filter *filter)
{
struct mcp2515_data *dev_data = dev->data;
int filter_id = 0;
__ASSERT(rx_cb != NULL, "response_ptr can not be null");
if ((filter->flags & ~(CAN_FILTER_IDE | CAN_FILTER_DATA | CAN_FILTER_RTR)) != 0) {
LOG_ERR("unsupported CAN filter flags 0x%02x", filter->flags);
return -ENOTSUP;
}
k_mutex_lock(&dev_data->mutex, K_FOREVER);
/* find free filter */
while ((BIT(filter_id) & dev_data->filter_usage)
&& (filter_id < CONFIG_CAN_MAX_FILTER)) {
filter_id++;
}
/* setup filter */
if (filter_id < CONFIG_CAN_MAX_FILTER) {
dev_data->filter_usage |= BIT(filter_id);
dev_data->filter[filter_id] = *filter;
dev_data->rx_cb[filter_id] = rx_cb;
dev_data->cb_arg[filter_id] = cb_arg;
} else {
filter_id = -ENOSPC;
}
k_mutex_unlock(&dev_data->mutex);
return filter_id;
}
static void mcp2515_remove_rx_filter(const struct device *dev, int filter_id)
{
struct mcp2515_data *dev_data = dev->data;
k_mutex_lock(&dev_data->mutex, K_FOREVER);
dev_data->filter_usage &= ~BIT(filter_id);
k_mutex_unlock(&dev_data->mutex);
}
static void mcp2515_set_state_change_callback(const struct device *dev,
can_state_change_callback_t cb,
void *user_data)
{
struct mcp2515_data *dev_data = dev->data;
dev_data->state_change_cb = cb;
dev_data->state_change_cb_data = user_data;
}
static void mcp2515_rx_filter(const struct device *dev,
struct can_frame *frame)
{
struct mcp2515_data *dev_data = dev->data;
uint8_t filter_id = 0U;
can_rx_callback_t callback;
struct can_frame tmp_frame;
k_mutex_lock(&dev_data->mutex, K_FOREVER);
for (; filter_id < CONFIG_CAN_MAX_FILTER; filter_id++) {
if (!(BIT(filter_id) & dev_data->filter_usage)) {
continue; /* filter slot empty */
}
if (!can_frame_matches_filter(frame, &dev_data->filter[filter_id])) {
continue; /* filter did not match */
}
callback = dev_data->rx_cb[filter_id];
/*Make a temporary copy in case the user modifies the message*/
tmp_frame = *frame;
callback(dev, &tmp_frame, dev_data->cb_arg[filter_id]);
}
k_mutex_unlock(&dev_data->mutex);
}
static void mcp2515_rx(const struct device *dev, uint8_t rx_idx)
{
__ASSERT(rx_idx < MCP2515_RX_CNT, "rx_idx < MCP2515_RX_CNT");
struct can_frame frame;
uint8_t rx_frame[MCP2515_FRAME_LEN];
uint8_t nm;
/* Address Pointer selection */
nm = 2 * rx_idx;
/* Fetch rx buffer */
mcp2515_cmd_read_rx_buffer(dev, nm, rx_frame, sizeof(rx_frame));
mcp2515_convert_mcp2515frame_to_canframe(rx_frame, &frame);
mcp2515_rx_filter(dev, &frame);
}
static int mcp2515_get_state(const struct device *dev, enum can_state *state,
struct can_bus_err_cnt *err_cnt)
{
struct mcp2515_data *dev_data = dev->data;
uint8_t eflg;
uint8_t err_cnt_buf[2];
int ret;
ret = mcp2515_cmd_read_reg(dev, MCP2515_ADDR_EFLG, &eflg, sizeof(eflg));
if (ret < 0) {
LOG_ERR("Failed to read error register [%d]", ret);
return -EIO;
}
if (state != NULL) {
if (!dev_data->started) {
*state = CAN_STATE_STOPPED;
} else if (eflg & MCP2515_EFLG_TXBO) {
*state = CAN_STATE_BUS_OFF;
} else if ((eflg & MCP2515_EFLG_RXEP) || (eflg & MCP2515_EFLG_TXEP)) {
*state = CAN_STATE_ERROR_PASSIVE;
} else if (eflg & MCP2515_EFLG_EWARN) {
*state = CAN_STATE_ERROR_WARNING;
} else {
*state = CAN_STATE_ERROR_ACTIVE;
}
}
if (err_cnt != NULL) {
ret = mcp2515_cmd_read_reg(dev, MCP2515_ADDR_TEC, err_cnt_buf,
sizeof(err_cnt_buf));
if (ret < 0) {
LOG_ERR("Failed to read error counters [%d]", ret);
return -EIO;
}
err_cnt->tx_err_cnt = err_cnt_buf[0];
err_cnt->rx_err_cnt = err_cnt_buf[1];
}
return 0;
}
static void mcp2515_handle_errors(const struct device *dev)
{
struct mcp2515_data *dev_data = dev->data;
can_state_change_callback_t state_change_cb = dev_data->state_change_cb;
void *state_change_cb_data = dev_data->state_change_cb_data;
enum can_state state;
struct can_bus_err_cnt err_cnt;
int err;
err = mcp2515_get_state(dev, &state, state_change_cb ? &err_cnt : NULL);
if (err != 0) {
LOG_ERR("Failed to get CAN controller state [%d]", err);
return;
}
if (state_change_cb && dev_data->old_state != state) {
dev_data->old_state = state;
state_change_cb(dev, state, err_cnt, state_change_cb_data);
}
}
#ifndef CONFIG_CAN_AUTO_BUS_OFF_RECOVERY
static int mcp2515_recover(const struct device *dev, k_timeout_t timeout)
{
struct mcp2515_data *dev_data = dev->data;
ARG_UNUSED(timeout);
if (!dev_data->started) {
return -ENETDOWN;
}
return -ENOTSUP;
}
#endif
static void mcp2515_handle_interrupts(const struct device *dev)
{
const struct mcp2515_config *dev_cfg = dev->config;
int ret;
uint8_t canintf;
/* Loop until INT pin is inactive (all interrupt flags handled) */
while (1) {
ret = mcp2515_cmd_read_reg(dev, MCP2515_ADDR_CANINTF,
&canintf, 1);
if (ret != 0) {
LOG_ERR("Couldn't read INTF register %d", ret);
continue;
}
if (canintf == 0) {
/* No interrupt flags set */
break;
}
if (canintf & MCP2515_CANINTF_RX0IF) {
mcp2515_rx(dev, 0);
/* RX0IF flag cleared automatically during read */
canintf &= ~MCP2515_CANINTF_RX0IF;
}
if (canintf & MCP2515_CANINTF_RX1IF) {
mcp2515_rx(dev, 1);
/* RX1IF flag cleared automatically during read */
canintf &= ~MCP2515_CANINTF_RX1IF;
}
if (canintf & MCP2515_CANINTF_TX0IF) {
mcp2515_tx_done(dev, 0, 0);
}
if (canintf & MCP2515_CANINTF_TX1IF) {
mcp2515_tx_done(dev, 1, 0);
}
if (canintf & MCP2515_CANINTF_TX2IF) {
mcp2515_tx_done(dev, 2, 0);
}
if (canintf & MCP2515_CANINTF_ERRIF) {
mcp2515_handle_errors(dev);
}
if (canintf != 0) {
/* Clear remaining flags */
mcp2515_cmd_bit_modify(dev, MCP2515_ADDR_CANINTF,
canintf, ~canintf);
}
/* Break from loop if INT pin is inactive */
ret = gpio_pin_get_dt(&dev_cfg->int_gpio);
if (ret < 0) {
LOG_ERR("Couldn't read INT pin");
} else if (ret == 0) {
/* All interrupt flags handled */
break;
}
}
}
static void mcp2515_int_thread(const struct device *dev)
{
struct mcp2515_data *dev_data = dev->data;
while (1) {
k_sem_take(&dev_data->int_sem, K_FOREVER);
mcp2515_handle_interrupts(dev);
}
}
static void mcp2515_int_gpio_callback(const struct device *dev,
struct gpio_callback *cb, uint32_t pins)
{
struct mcp2515_data *dev_data =
CONTAINER_OF(cb, struct mcp2515_data, int_gpio_cb);
k_sem_give(&dev_data->int_sem);
}
static const struct can_driver_api can_api_funcs = {
.get_capabilities = mcp2515_get_capabilities,
.set_timing = mcp2515_set_timing,
.start = mcp2515_start,
.stop = mcp2515_stop,
.set_mode = mcp2515_set_mode,
.send = mcp2515_send,
.add_rx_filter = mcp2515_add_rx_filter,
.remove_rx_filter = mcp2515_remove_rx_filter,
.get_state = mcp2515_get_state,
#ifndef CONFIG_CAN_AUTO_BUS_OFF_RECOVERY
.recover = mcp2515_recover,
#endif
.set_state_change_callback = mcp2515_set_state_change_callback,
.get_core_clock = mcp2515_get_core_clock,
.get_max_filters = mcp2515_get_max_filters,
.get_max_bitrate = mcp2515_get_max_bitrate,
.timing_min = {
.sjw = 0x1,
.prop_seg = 0x01,
.phase_seg1 = 0x01,
.phase_seg2 = 0x02,
.prescaler = 0x01
},
.timing_max = {
.sjw = 0x04,
.prop_seg = 0x08,
.phase_seg1 = 0x08,
.phase_seg2 = 0x08,
.prescaler = 0x40
}
};
static int mcp2515_init(const struct device *dev)
{
const struct mcp2515_config *dev_cfg = dev->config;
struct mcp2515_data *dev_data = dev->data;
struct can_timing timing;
k_tid_t tid;
int ret;
k_sem_init(&dev_data->int_sem, 0, 1);
k_mutex_init(&dev_data->mutex);
k_sem_init(&dev_data->tx_sem, MCP2515_TX_CNT, MCP2515_TX_CNT);
if (dev_cfg->phy != NULL) {
if (!device_is_ready(dev_cfg->phy)) {
LOG_ERR("CAN transceiver not ready");
return -ENODEV;
}
}
if (!spi_is_ready_dt(&dev_cfg->bus)) {
LOG_ERR("SPI bus %s not ready", dev_cfg->bus.bus->name);
return -ENODEV;
}
/* Reset MCP2515 */
if (mcp2515_cmd_soft_reset(dev)) {
LOG_ERR("Soft-reset failed");
return -EIO;
}
/* Initialize interrupt handling */
if (!device_is_ready(dev_cfg->int_gpio.port)) {
LOG_ERR("Interrupt GPIO port not ready");
return -ENODEV;
}
if (gpio_pin_configure_dt(&dev_cfg->int_gpio, GPIO_INPUT)) {
LOG_ERR("Unable to configure interrupt GPIO");
return -EINVAL;
}
gpio_init_callback(&(dev_data->int_gpio_cb), mcp2515_int_gpio_callback,
BIT(dev_cfg->int_gpio.pin));
if (gpio_add_callback(dev_cfg->int_gpio.port,
&(dev_data->int_gpio_cb))) {
return -EINVAL;
}
if (gpio_pin_interrupt_configure_dt(&dev_cfg->int_gpio,
GPIO_INT_EDGE_TO_ACTIVE)) {
return -EINVAL;
}
tid = k_thread_create(&dev_data->int_thread, dev_data->int_thread_stack,
dev_cfg->int_thread_stack_size,
(k_thread_entry_t) mcp2515_int_thread, (void *)dev,
NULL, NULL, K_PRIO_COOP(dev_cfg->int_thread_priority),
0, K_NO_WAIT);
(void)k_thread_name_set(tid, "mcp2515");
(void)memset(dev_data->rx_cb, 0, sizeof(dev_data->rx_cb));
(void)memset(dev_data->filter, 0, sizeof(dev_data->filter));
dev_data->old_state = CAN_STATE_ERROR_ACTIVE;
timing.sjw = dev_cfg->tq_sjw;
if (dev_cfg->sample_point && USE_SP_ALGO) {
ret = can_calc_timing(dev, &timing, dev_cfg->bus_speed,
dev_cfg->sample_point);
if (ret == -EINVAL) {
LOG_ERR("Can't find timing for given param");
return -EIO;
}
LOG_DBG("Presc: %d, BS1: %d, BS2: %d",
timing.prescaler, timing.phase_seg1, timing.phase_seg2);
LOG_DBG("Sample-point err : %d", ret);
} else {
timing.prop_seg = dev_cfg->tq_prop;
timing.phase_seg1 = dev_cfg->tq_bs1;
timing.phase_seg2 = dev_cfg->tq_bs2;
ret = can_calc_prescaler(dev, &timing, dev_cfg->bus_speed);
if (ret) {
LOG_WRN("Bitrate error: %d", ret);
}
}
k_usleep(MCP2515_OSC_STARTUP_US);
ret = can_set_timing(dev, &timing);
if (ret) {
return ret;
}
ret = can_set_mode(dev, CAN_MODE_NORMAL);
return ret;
}
#define MCP2515_INIT(inst) \
static K_KERNEL_STACK_DEFINE(mcp2515_int_thread_stack_##inst, \
CONFIG_CAN_MCP2515_INT_THREAD_STACK_SIZE); \
\
static struct mcp2515_data mcp2515_data_##inst = { \
.int_thread_stack = mcp2515_int_thread_stack_##inst, \
.tx_busy_map = 0U, \
.filter_usage = 0U, \
}; \
\
static const struct mcp2515_config mcp2515_config_##inst = { \
.bus = SPI_DT_SPEC_INST_GET(inst, SPI_WORD_SET(8), 0), \
.int_gpio = GPIO_DT_SPEC_INST_GET(inst, int_gpios), \
.int_thread_stack_size = CONFIG_CAN_MCP2515_INT_THREAD_STACK_SIZE, \
.int_thread_priority = CONFIG_CAN_MCP2515_INT_THREAD_PRIO, \
.tq_sjw = DT_INST_PROP(inst, sjw), \
.tq_prop = DT_INST_PROP_OR(inst, prop_seg, 0), \
.tq_bs1 = DT_INST_PROP_OR(inst, phase_seg1, 0), \
.tq_bs2 = DT_INST_PROP_OR(inst, phase_seg2, 0), \
.bus_speed = DT_INST_PROP(inst, bus_speed), \
.osc_freq = DT_INST_PROP(inst, osc_freq), \
.sample_point = DT_INST_PROP_OR(inst, sample_point, 0), \
.phy = DEVICE_DT_GET_OR_NULL(DT_INST_PHANDLE(inst, phys)), \
.max_bitrate = DT_INST_CAN_TRANSCEIVER_MAX_BITRATE(inst, 1000000), \
}; \
\
DEVICE_DT_INST_DEFINE(inst, &mcp2515_init, NULL, &mcp2515_data_##inst, \
&mcp2515_config_##inst, POST_KERNEL, CONFIG_CAN_INIT_PRIORITY, \
&can_api_funcs);
DT_INST_FOREACH_STATUS_OKAY(MCP2515_INIT)
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