169 lines
5.1 KiB
C
169 lines
5.1 KiB
C
/*
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* Copyright (c) 2022 Vestas Wind Systems A/S
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* Copyright (c) 2021 Alexander Wachter
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <zephyr/drivers/can.h>
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#include <zephyr/drivers/pinctrl.h>
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#include <soc.h>
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#include <zephyr/kernel.h>
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#include <zephyr/logging/log.h>
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#include "can_mcan.h"
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LOG_MODULE_REGISTER(can_sam, CONFIG_CAN_LOG_LEVEL);
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#define DT_DRV_COMPAT atmel_sam_can
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struct can_sam_config {
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void (*config_irq)(void);
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const struct pinctrl_dev_config *pcfg;
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uint8_t pmc_id;
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int divider;
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};
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struct can_sam_data {
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struct can_mcan_msg_sram msg_ram;
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};
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static int can_sam_get_core_clock(const struct device *dev, uint32_t *rate)
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{
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const struct can_mcan_config *mcan_cfg = dev->config;
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const struct can_sam_config *sam_cfg = mcan_cfg->custom;
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*rate = SOC_ATMEL_SAM_UPLLCK_FREQ_HZ / (sam_cfg->divider);
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return 0;
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}
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static void can_sam_clock_enable(const struct can_sam_config *sam_cfg)
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{
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REG_PMC_PCK5 = PMC_PCK_CSS_UPLL_CLK | PMC_PCK_PRES(sam_cfg->divider - 1);
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PMC->PMC_SCER |= PMC_SCER_PCK5;
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soc_pmc_peripheral_enable(sam_cfg->pmc_id);
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}
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static int can_sam_init(const struct device *dev)
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{
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const struct can_mcan_config *mcan_cfg = dev->config;
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const struct can_sam_config *sam_cfg = mcan_cfg->custom;
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int ret;
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can_sam_clock_enable(sam_cfg);
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ret = pinctrl_apply_state(sam_cfg->pcfg, PINCTRL_STATE_DEFAULT);
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if (ret < 0) {
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return ret;
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}
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ret = can_mcan_init(dev);
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if (ret != 0) {
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return ret;
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}
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sam_cfg->config_irq();
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return ret;
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}
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static const struct can_driver_api can_sam_driver_api = {
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.get_capabilities = can_mcan_get_capabilities,
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.start = can_mcan_start,
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.stop = can_mcan_stop,
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.set_mode = can_mcan_set_mode,
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.set_timing = can_mcan_set_timing,
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.send = can_mcan_send,
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.add_rx_filter = can_mcan_add_rx_filter,
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.remove_rx_filter = can_mcan_remove_rx_filter,
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.get_state = can_mcan_get_state,
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#ifndef CONFIG_CAN_AUTO_BUS_OFF_RECOVERY
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.recover = can_mcan_recover,
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#endif /* CONFIG_CAN_AUTO_BUS_OFF_RECOVERY */
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.get_core_clock = can_sam_get_core_clock,
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.get_max_filters = can_mcan_get_max_filters,
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.get_max_bitrate = can_mcan_get_max_bitrate,
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.set_state_change_callback = can_mcan_set_state_change_callback,
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.timing_min = {
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.sjw = 0x1,
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.prop_seg = 0x00,
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.phase_seg1 = 0x01,
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.phase_seg2 = 0x01,
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.prescaler = 0x01
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},
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.timing_max = {
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.sjw = 0x7f,
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.prop_seg = 0x00,
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.phase_seg1 = 0x100,
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.phase_seg2 = 0x80,
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.prescaler = 0x200
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},
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#ifdef CONFIG_CAN_FD_MODE
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.set_timing_data = can_mcan_set_timing_data,
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.timing_data_min = {
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.sjw = 0x01,
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.prop_seg = 0x00,
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.phase_seg1 = 0x01,
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.phase_seg2 = 0x01,
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.prescaler = 0x01
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},
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.timing_data_max = {
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.sjw = 0x10,
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.prop_seg = 0x00,
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.phase_seg1 = 0x20,
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.phase_seg2 = 0x10,
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.prescaler = 0x20
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}
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#endif /* CONFIG_CAN_FD_MODE */
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};
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#define CAN_SAM_IRQ_CFG_FUNCTION(inst) \
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static void config_can_##inst##_irq(void) \
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{ \
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LOG_DBG("Enable CAN##inst## IRQ"); \
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IRQ_CONNECT(DT_INST_IRQ_BY_NAME(inst, line_0, irq), \
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DT_INST_IRQ_BY_NAME(inst, line_0, priority), can_mcan_line_0_isr, \
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DEVICE_DT_INST_GET(inst), 0); \
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irq_enable(DT_INST_IRQ_BY_NAME(inst, line_0, irq)); \
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IRQ_CONNECT(DT_INST_IRQ_BY_NAME(inst, line_1, irq), \
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DT_INST_IRQ_BY_NAME(inst, line_1, priority), can_mcan_line_1_isr, \
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DEVICE_DT_INST_GET(inst), 0); \
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irq_enable(DT_INST_IRQ_BY_NAME(inst, line_1, irq)); \
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}
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#define CAN_SAM_CFG_INST(inst) \
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static const struct can_sam_config can_sam_cfg_##inst = { \
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.pmc_id = DT_INST_PROP(inst, peripheral_id), \
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.divider = DT_INST_PROP(inst, divider), \
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.pcfg = PINCTRL_DT_INST_DEV_CONFIG_GET(inst), \
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.config_irq = config_can_##inst##_irq, \
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}; \
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\
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static const struct can_mcan_config can_mcan_cfg_##inst = \
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CAN_MCAN_DT_CONFIG_INST_GET(inst, &can_sam_cfg_##inst);
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#define CAN_SAM_DATA_INST(inst) \
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static struct can_sam_data can_sam_data_##inst; \
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\
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static struct can_mcan_data can_mcan_data_##inst = \
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CAN_MCAN_DATA_INITIALIZER(&can_sam_data_##inst.msg_ram, \
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&can_sam_data_##inst); \
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#define CAN_SAM_DEVICE_INST(inst) \
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DEVICE_DT_INST_DEFINE(inst, &can_sam_init, NULL, \
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&can_mcan_data_##inst, \
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&can_mcan_cfg_##inst, \
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POST_KERNEL, CONFIG_CAN_INIT_PRIORITY, \
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&can_sam_driver_api);
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#define CAN_SAM_INST(inst) \
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PINCTRL_DT_INST_DEFINE(inst); \
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CAN_SAM_IRQ_CFG_FUNCTION(inst) \
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CAN_SAM_CFG_INST(inst) \
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CAN_SAM_DATA_INST(inst) \
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CAN_SAM_DEVICE_INST(inst)
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DT_INST_FOREACH_STATUS_OKAY(CAN_SAM_INST)
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