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zephyr/drivers/can/can_mcan.c

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/*
* Copyright (c) 2020 Alexander Wachter
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <sys/util.h>
#include <string.h>
#include <kernel.h>
#include <drivers/can.h>
#include "can_mcan.h"
#include "can_mcan_int.h"
#include <logging/log.h>
LOG_MODULE_DECLARE(can_driver, CONFIG_CAN_LOG_LEVEL);
#define CAN_INIT_TIMEOUT (100)
#define CAN_DIV_CEIL(val, div) (((val) + (div) - 1) / (div))
#ifdef CONFIG_CAN_FD_MODE
#define MCAN_MAX_DLC CANFD_MAX_DLC
#else
#define MCAN_MAX_DLC CAN_MAX_DLC
#endif
static int can_exit_sleep_mode(struct can_mcan_reg *can)
{
uint32_t start_time;
can->cccr &= ~CAN_MCAN_CCCR_CSR;
start_time = k_cycle_get_32();
while ((can->cccr & CAN_MCAN_CCCR_CSA) == CAN_MCAN_CCCR_CSA) {
if (k_cycle_get_32() - start_time >
k_ms_to_cyc_ceil32(CAN_INIT_TIMEOUT)) {
can->cccr |= CAN_MCAN_CCCR_CSR;
return CAN_TIMEOUT;
}
}
return 0;
}
static int can_enter_init_mode(struct can_mcan_reg *can, k_timeout_t timeout)
{
int64_t start_time;
can->cccr |= CAN_MCAN_CCCR_INIT;
start_time = k_uptime_ticks();
while ((can->cccr & CAN_MCAN_CCCR_INIT) == 0U) {
if (k_uptime_ticks() - start_time > timeout.ticks) {
can->cccr &= ~CAN_MCAN_CCCR_INIT;
return CAN_TIMEOUT;
}
}
return 0;
}
static int can_leave_init_mode(struct can_mcan_reg *can, k_timeout_t timeout)
{
int64_t start_time;
can->cccr &= ~CAN_MCAN_CCCR_INIT;
start_time = k_uptime_ticks();
while ((can->cccr & CAN_MCAN_CCCR_INIT) != 0U) {
if (k_uptime_ticks() - start_time > timeout.ticks) {
return CAN_TIMEOUT;
}
}
return 0;
}
void can_mcan_configure_timing(struct can_mcan_reg *can,
const struct can_timing *timing,
const struct can_timing *timing_data)
{
if (timing) {
uint32_t nbtp_sjw = can->nbtp & CAN_MCAN_NBTP_NSJW_MSK;
__ASSERT_NO_MSG(timing->prop_seg == 0);
__ASSERT_NO_MSG(timing->phase_seg1 <= 0x100 &&
timing->phase_seg1 > 0);
__ASSERT_NO_MSG(timing->phase_seg2 <= 0x80 &&
timing->phase_seg2 > 0);
__ASSERT_NO_MSG(timing->prescaler <= 0x200 &&
timing->prescaler > 0);
__ASSERT_NO_MSG(timing->sjw <= 0x80 && timing->sjw > 0);
can->nbtp = (((uint32_t)timing->phase_seg1 - 1UL) & 0xFF) <<
CAN_MCAN_NBTP_NTSEG1_POS |
(((uint32_t)timing->phase_seg2 - 1UL) & 0x7F) <<
CAN_MCAN_NBTP_NTSEG2_POS |
(((uint32_t)timing->prescaler - 1UL) & 0x1FF) <<
CAN_MCAN_NBTP_NBRP_POS;
if (timing->sjw == CAN_SJW_NO_CHANGE) {
can->nbtp |= nbtp_sjw;
} else {
can->nbtp |= (((uint32_t)timing->sjw - 1UL) & 0x7F) <<
CAN_MCAN_NBTP_NSJW_POS;
}
}
#ifdef CONFIG_CAN_FD_MODE
if (timing_data) {
uint32_t dbtp_sjw = can->dbtp & CAN_MCAN_DBTP_DSJW_MSK;
__ASSERT_NO_MSG(timing_data->prop_seg == 0);
__ASSERT_NO_MSG(timing_data->phase_seg1 <= 0x20 &&
timing_data->phase_seg1 > 0);
__ASSERT_NO_MSG(timing_data->phase_seg2 <= 0x10 &&
timing_data->phase_seg2 > 0);
__ASSERT_NO_MSG(timing_data->prescaler <= 20 &&
timing_data->prescaler > 0);
__ASSERT_NO_MSG(timing_data->sjw <= 0x80 &&
timing_data->sjw > 0);
can->dbtp = (((uint32_t)timing_data->phase_seg1 - 1UL) & 0x1F) <<
CAN_MCAN_DBTP_DTSEG1_POS |
(((uint32_t)timing_data->phase_seg2 - 1UL) & 0x0F) <<
CAN_MCAN_DBTP_DTSEG2_POS |
(((uint32_t)timing_data->prescaler - 1UL) & 0x1F) <<
CAN_MCAN_DBTP_DBRP_POS;
if (timing_data->sjw == CAN_SJW_NO_CHANGE) {
can->dbtp |= dbtp_sjw;
} else {
can->dbtp |= (((uint32_t)timing_data->sjw - 1UL) & 0x0F) <<
CAN_MCAN_DBTP_DSJW_POS;
}
}
#endif
}
int can_mcan_set_timing(const struct can_mcan_config *cfg,
const struct can_timing *timing,
const struct can_timing *timing_data)
{
struct can_mcan_reg *can = cfg->can;
int ret;
ret = can_enter_init_mode(can, K_MSEC(CAN_INIT_TIMEOUT));
if (ret) {
LOG_ERR("Failed to enter init mode");
return -EIO;
}
can_mcan_configure_timing(can, timing, timing_data);
ret = can_leave_init_mode(can, K_MSEC(CAN_INIT_TIMEOUT));
if (ret) {
LOG_ERR("Failed to leave init mode");
return -EIO;
}
return 0;
}
int can_mcan_set_mode(const struct can_mcan_config *cfg, enum can_mode mode)
{
struct can_mcan_reg *can = cfg->can;
int ret;
ret = can_enter_init_mode(can, K_MSEC(CAN_INIT_TIMEOUT));
if (ret) {
LOG_ERR("Failed to enter init mode");
return -EIO;
}
/* Configuration Change Enable */
can->cccr |= CAN_MCAN_CCCR_CCE;
switch (mode) {
case CAN_NORMAL_MODE:
LOG_DBG("Config normal mode");
can->cccr &= ~(CAN_MCAN_CCCR_TEST | CAN_MCAN_CCCR_MON);
break;
case CAN_SILENT_MODE:
LOG_DBG("Config silent mode");
can->cccr &= ~CAN_MCAN_CCCR_TEST;
can->cccr |= CAN_MCAN_CCCR_MON;
break;
case CAN_LOOPBACK_MODE:
LOG_DBG("Config loopback mode");
can->cccr &= ~CAN_MCAN_CCCR_MON;
can->cccr |= CAN_MCAN_CCCR_TEST;
can->test |= CAN_MCAN_TEST_LBCK;
break;
case CAN_SILENT_LOOPBACK_MODE:
LOG_DBG("Config silent loopback mode");
can->cccr |= (CAN_MCAN_CCCR_TEST | CAN_MCAN_CCCR_MON);
can->test |= CAN_MCAN_TEST_LBCK;
break;
default:
break;
}
ret = can_leave_init_mode(can, K_MSEC(CAN_INIT_TIMEOUT));
if (ret) {
LOG_ERR("Failed to leave init mode");
}
return 0;
}
int can_mcan_init(const struct device *dev, const struct can_mcan_config *cfg,
struct can_mcan_msg_sram *msg_ram,
struct can_mcan_data *data)
{
struct can_mcan_reg *can = cfg->can;
struct can_timing timing;
#ifdef CONFIG_CAN_FD_MODE
struct can_timing timing_data;
#endif
int ret;
k_mutex_init(&data->inst_mutex);
k_mutex_init(&data->tx_mtx);
k_sem_init(&data->tx_sem, NUM_TX_BUF_ELEMENTS, NUM_TX_BUF_ELEMENTS);
for (int i = 0; i < ARRAY_SIZE(data->tx_fin_sem); ++i) {
k_sem_init(&data->tx_fin_sem[i], 0, 1);
}
ret = can_exit_sleep_mode(can);
if (ret) {
LOG_ERR("Failed to exit sleep mode");
return -EIO;
}
ret = can_enter_init_mode(can, K_MSEC(CAN_INIT_TIMEOUT));
if (ret) {
LOG_ERR("Failed to enter init mode");
return -EIO;
}
/* Configuration Change Enable */
can->cccr |= CAN_MCAN_CCCR_CCE;
LOG_DBG("IP rel: %lu.%lu.%lu %02lu.%lu.%lu",
(can->crel & CAN_MCAN_CREL_REL) >> CAN_MCAN_CREL_REL_POS,
(can->crel & CAN_MCAN_CREL_STEP) >> CAN_MCAN_CREL_STEP_POS,
(can->crel & CAN_MCAN_CREL_SUBSTEP) >>
CAN_MCAN_CREL_SUBSTEP_POS,
(can->crel & CAN_MCAN_CREL_YEAR) >> CAN_MCAN_CREL_YEAR_POS,
(can->crel & CAN_MCAN_CREL_MON) >> CAN_MCAN_CREL_MON_POS,
(can->crel & CAN_MCAN_CREL_DAY) >> CAN_MCAN_CREL_DAY_POS);
#ifndef CONFIG_CAN_STM32FD
can->sidfc = ((uint32_t)msg_ram->std_filt & CAN_MCAN_SIDFC_FLSSA_MSK) |
(ARRAY_SIZE(msg_ram->std_filt) << CAN_MCAN_SIDFC_LSS_POS);
can->xidfc = ((uint32_t)msg_ram->ext_filt & CAN_MCAN_XIDFC_FLESA_MSK) |
(ARRAY_SIZE(msg_ram->ext_filt) << CAN_MCAN_XIDFC_LSS_POS);
can->rxf0c = ((uint32_t)msg_ram->rx_fifo0 & CAN_MCAN_RXF0C_F0SA) |
(ARRAY_SIZE(msg_ram->rx_fifo0) << CAN_MCAN_RXF0C_F0S_POS);
can->rxf1c = ((uint32_t)msg_ram->rx_fifo1 & CAN_MCAN_RXF1C_F1SA) |
(ARRAY_SIZE(msg_ram->rx_fifo1) << CAN_MCAN_RXF1C_F1S_POS);
can->rxbc = ((uint32_t)msg_ram->rx_buffer & CAN_MCAN_RXBC_RBSA);
can->txefc = ((uint32_t)msg_ram->tx_event_fifo & CAN_MCAN_TXEFC_EFSA_MSK) |
(ARRAY_SIZE(msg_ram->tx_event_fifo) <<
CAN_MCAN_TXEFC_EFS_POS);
can->txbc = ((uint32_t)msg_ram->tx_buffer & CAN_MCAN_TXBC_TBSA) |
(ARRAY_SIZE(msg_ram->tx_buffer) << CAN_MCAN_TXBC_TFQS_POS);
if (sizeof(msg_ram->tx_buffer[0].data) <= 24) {
can->txesc = (sizeof(msg_ram->tx_buffer[0].data) - 8) / 4;
} else {
can->txesc = (sizeof(msg_ram->tx_buffer[0].data) - 32) / 16 + 5;
}
if (sizeof(msg_ram->rx_fifo0[0].data) <= 24) {
can->rxesc = (((sizeof(msg_ram->rx_fifo0[0].data) - 8) / 4) <<
CAN_MCAN_RXESC_F0DS_POS) |
(((sizeof(msg_ram->rx_fifo1[0].data) - 8) / 4) <<
CAN_MCAN_RXESC_F1DS_POS) |
(((sizeof(msg_ram->rx_buffer[0].data) - 8) / 4) <<
CAN_MCAN_RXESC_RBDS_POS);
} else {
can->rxesc = (((sizeof(msg_ram->rx_fifo0[0].data) - 32)
/ 16 + 5) << CAN_MCAN_RXESC_F0DS_POS) |
(((sizeof(msg_ram->rx_fifo1[0].data) - 32)
/ 16 + 5) << CAN_MCAN_RXESC_F1DS_POS) |
(((sizeof(msg_ram->rx_buffer[0].data) - 32)
/ 16 + 5) << CAN_MCAN_RXESC_RBDS_POS);
}
#endif
#ifdef CONFIG_CAN_FD_MODE
can->cccr |= CAN_MCAN_CCCR_FDOE | CAN_MCAN_CCCR_BRSE;
#else
can->cccr &= ~(CAN_MCAN_CCCR_FDOE | CAN_MCAN_CCCR_BRSE);
#endif
can->cccr &= ~(CAN_MCAN_CCCR_TEST | CAN_MCAN_CCCR_MON |
CAN_MCAN_CCCR_ASM);
can->test &= ~(CAN_MCAN_TEST_LBCK);
#if defined(CONFIG_CAN_DELAY_COMP) && defined(CONFIG_CAN_FD_MODE)
can->dbtp |= CAN_MCAN_DBTP_TDC;
can->tdcr |= cfg->tx_delay_comp_offset << CAN_MCAN_TDCR_TDCO_POS;
#endif
#ifdef CONFIG_CAN_STM32FD
can->rxgfc |= (CONFIG_CAN_MAX_STD_ID_FILTER << CAN_MCAN_RXGFC_LSS_POS) |
(CONFIG_CAN_MAX_EXT_ID_FILTER << CAN_MCAN_RXGFC_LSE_POS) |
(0x2 << CAN_MCAN_RXGFC_ANFS_POS) |
(0x2 << CAN_MCAN_RXGFC_ANFE_POS);
#else
can->gfc |= (0x2 << CAN_MCAN_GFC_ANFE_POS) |
(0x2 << CAN_MCAN_GFC_ANFS_POS);
#endif /* CONFIG_CAN_STM32FD */
if (cfg->sample_point) {
ret = can_calc_timing(dev, &timing, cfg->bus_speed,
cfg->sample_point);
if (ret == -EINVAL) {
LOG_ERR("Can't find timing for given param");
return -EIO;
}
LOG_DBG("Presc: %d, TS1: %d, TS2: %d",
timing.prescaler, timing.phase_seg1, timing.phase_seg2);
LOG_DBG("Sample-point err : %d", ret);
} else if (cfg->prop_ts1) {
timing.prop_seg = 0;
timing.phase_seg1 = cfg->prop_ts1;
timing.phase_seg2 = cfg->ts2;
ret = can_calc_prescaler(dev, &timing, cfg->bus_speed);
if (ret) {
LOG_WRN("Bitrate error: %d", ret);
}
}
#ifdef CONFIG_CAN_FD_MODE
if (cfg->sample_point_data) {
ret = can_calc_timing_data(dev, &timing_data,
cfg->bus_speed_data,
cfg->sample_point_data);
if (ret == -EINVAL) {
LOG_ERR("Can't find timing for given dataphase param");
return -EIO;
}
LOG_DBG("Sample-point err data phase: %d", ret);
} else if (cfg->prop_ts1_data) {
timing_data.prop_seg = 0;
timing_data.phase_seg1 = cfg->prop_ts1_data;
timing_data.phase_seg2 = cfg->ts2_data;
ret = can_calc_prescaler(dev, &timing_data,
cfg->bus_speed_data);
if (ret) {
LOG_WRN("Dataphase bitrate error: %d", ret);
}
}
#endif
timing.sjw = cfg->sjw;
#ifdef CONFIG_CAN_FD_MODE
timing_data.sjw = cfg->sjw_data;
can_mcan_configure_timing(can, &timing, &timing_data);
#else
can_mcan_configure_timing(can, &timing, NULL);
#endif
can->ie = CAN_MCAN_IE_BO | CAN_MCAN_IE_EW | CAN_MCAN_IE_EP |
CAN_MCAN_IE_MRAF | CAN_MCAN_IE_TEFL | CAN_MCAN_IE_TEFN |
CAN_MCAN_IE_RF0N | CAN_MCAN_IE_RF1N | CAN_MCAN_IE_RF0L |
CAN_MCAN_IE_RF1L;
#ifdef CONFIG_CAN_STM32FD
can->ils = CAN_MCAN_ILS_RXFIFO0 | CAN_MCAN_ILS_RXFIFO1;
#else
can->ils = CAN_MCAN_ILS_RF0N | CAN_MCAN_ILS_RF1N;
#endif
can->ile = CAN_MCAN_ILE_EINT0 | CAN_MCAN_ILE_EINT1;
/* Interrupt on every TX fifo element*/
can->txbtie = CAN_MCAN_TXBTIE_TIE;
ret = can_leave_init_mode(can, K_MSEC(CAN_INIT_TIMEOUT));
if (ret) {
LOG_ERR("Failed to leave init mode");
return -EIO;
}
/* No memset because only aligned ptr are allowed */
for (uint32_t *ptr = (uint32_t *)msg_ram;
ptr < (uint32_t *)msg_ram +
sizeof(struct can_mcan_msg_sram) / sizeof(uint32_t);
ptr++) {
*ptr = 0;
}
return 0;
}
static void can_mcan_state_change_handler(const struct can_mcan_config *cfg,
struct can_mcan_data *data)
{
enum can_state state;
struct can_bus_err_cnt err_cnt;
state = can_mcan_get_state(cfg, &err_cnt);
if (data->state_change_isr) {
data->state_change_isr(state, err_cnt);
}
}
static void can_mcan_tc_event_handler(struct can_mcan_reg *can,
struct can_mcan_msg_sram *msg_ram,
struct can_mcan_data *data)
{
volatile struct can_mcan_tx_event_fifo *tx_event;
can_tx_callback_t tx_cb;
uint32_t event_idx, tx_idx;
while (can->txefs & CAN_MCAN_TXEFS_EFFL) {
event_idx = (can->txefs & CAN_MCAN_TXEFS_EFGI) >>
CAN_MCAN_TXEFS_EFGI_POS;
tx_event = &msg_ram->tx_event_fifo[event_idx];
tx_idx = tx_event->mm.idx;
/* Acknowledge TX event */
can->txefa = event_idx;
k_sem_give(&data->tx_sem);
tx_cb = data->tx_fin_cb[tx_idx];
if (tx_cb == NULL) {
k_sem_give(&data->tx_fin_sem[tx_idx]);
} else {
tx_cb(CAN_TX_OK, data->tx_fin_cb_arg[tx_idx]);
}
}
}
void can_mcan_line_0_isr(const struct can_mcan_config *cfg,
struct can_mcan_msg_sram *msg_ram,
struct can_mcan_data *data)
{
struct can_mcan_reg *can = cfg->can;
do {
if (can->ir & (CAN_MCAN_IR_BO | CAN_MCAN_IR_EP |
CAN_MCAN_IR_EW)) {
can->ir = CAN_MCAN_IR_BO | CAN_MCAN_IR_EP |
CAN_MCAN_IR_EW;
can_mcan_state_change_handler(cfg, data);
}
/* TX event FIFO new entry */
if (can->ir & CAN_MCAN_IR_TEFN) {
can->ir = CAN_MCAN_IR_TEFN;
can_mcan_tc_event_handler(can, msg_ram, data);
}
if (can->ir & CAN_MCAN_IR_TEFL) {
can->ir = CAN_MCAN_IR_TEFL;
LOG_ERR("TX FIFO element lost");
k_sem_give(&data->tx_sem);
}
if (can->ir & CAN_MCAN_IR_ARA) {
can->ir = CAN_MCAN_IR_ARA;
LOG_ERR("Access to reserved address");
}
if (can->ir & CAN_MCAN_IR_MRAF) {
can->ir = CAN_MCAN_IR_MRAF;
LOG_ERR("Message RAM access failure");
}
} while (can->ir & (CAN_MCAN_IR_BO | CAN_MCAN_IR_EW | CAN_MCAN_IR_EP |
CAN_MCAN_IR_TEFL | CAN_MCAN_IR_TEFN));
}
static void can_mcan_get_message(struct can_mcan_data *data,
volatile struct can_mcan_rx_fifo *fifo,
volatile uint32_t *fifo_status_reg,
volatile uint32_t *fifo_ack_reg)
{
uint32_t get_idx, filt_idx;
struct zcan_frame frame;
can_rx_callback_t cb;
volatile uint32_t *src, *dst, *end;
int data_length;
void *cb_arg;
struct can_mcan_rx_fifo_hdr hdr;
while ((*fifo_status_reg & CAN_MCAN_RXF0S_F0FL)) {
get_idx = (*fifo_status_reg & CAN_MCAN_RXF0S_F0GI) >>
CAN_MCAN_RXF0S_F0GI_POS;
hdr = fifo[get_idx].hdr;
if (hdr.xtd) {
frame.id = hdr.ext_id;
} else {
frame.id = hdr.std_id;
}
frame.fd = hdr.fdf;
frame.rtr = hdr.rtr ? CAN_REMOTEREQUEST :
CAN_DATAFRAME;
frame.id_type = hdr.xtd ? CAN_EXTENDED_IDENTIFIER :
CAN_STANDARD_IDENTIFIER;
frame.dlc = hdr.dlc;
frame.brs = hdr.brs;
#if defined(CONFIG_CAN_RX_TIMESTAMP)
frame.timestamp = hdr.rxts;
#endif
filt_idx = hdr.fidx;
/* Check if RTR must match */
if ((hdr.xtd && data->ext_filt_rtr_mask & (1U << filt_idx) &&
((data->ext_filt_rtr >> filt_idx) & 1U) != frame.rtr) ||
(data->std_filt_rtr_mask & (1U << filt_idx) &&
((data->std_filt_rtr >> filt_idx) & 1U) != frame.rtr)) {
continue;
}
data_length = can_dlc_to_bytes(frame.dlc);
if (data_length <= sizeof(frame.data)) {
/* data needs to be written in 32 bit blocks!*/
for (src = fifo[get_idx].data_32,
dst = frame.data_32,
end = dst + CAN_DIV_CEIL(data_length, sizeof(uint32_t));
dst < end;
src++, dst++) {
*dst = *src;
}
if (frame.id_type == CAN_STANDARD_IDENTIFIER) {
LOG_DBG("Frame on filter %d, ID: 0x%x",
filt_idx, frame.id);
cb = data->rx_cb_std[filt_idx];
cb_arg = data->cb_arg_std[filt_idx];
} else {
LOG_DBG("Frame on filter %d, ID: 0x%x",
filt_idx + NUM_STD_FILTER_DATA,
frame.id);
cb = data->rx_cb_ext[filt_idx];
cb_arg = data->cb_arg_ext[filt_idx];
}
if (cb) {
cb(&frame, cb_arg);
} else {
LOG_DBG("cb missing");
}
} else {
LOG_ERR("Frame is too big");
}
*fifo_ack_reg = get_idx;
}
}
void can_mcan_line_1_isr(const struct can_mcan_config *cfg,
struct can_mcan_msg_sram *msg_ram,
struct can_mcan_data *data)
{
struct can_mcan_reg *can = cfg->can;
do {
if (can->ir & CAN_MCAN_IR_RF0N) {
can->ir = CAN_MCAN_IR_RF0N;
LOG_DBG("RX FIFO0 INT");
can_mcan_get_message(data, msg_ram->rx_fifo0,
&can->rxf0s, &can->rxf0a);
}
if (can->ir & CAN_MCAN_IR_RF1N) {
can->ir = CAN_MCAN_IR_RF1N;
LOG_DBG("RX FIFO1 INT");
can_mcan_get_message(data, msg_ram->rx_fifo1,
&can->rxf1s, &can->rxf1a);
}
if (can->ir & CAN_MCAN_IR_RF0L) {
can->ir = CAN_MCAN_IR_RF0L;
LOG_ERR("Message lost on FIFO0");
}
if (can->ir & CAN_MCAN_IR_RF1L) {
can->ir = CAN_MCAN_IR_RF1L;
LOG_ERR("Message lost on FIFO1");
}
} while (can->ir & (CAN_MCAN_IR_RF0N | CAN_MCAN_IR_RF1N |
CAN_MCAN_IR_RF0L | CAN_MCAN_IR_RF1L));
}
enum can_state can_mcan_get_state(const struct can_mcan_config *cfg,
struct can_bus_err_cnt *err_cnt)
{
struct can_mcan_reg *can = cfg->can;
err_cnt->rx_err_cnt = (can->ecr & CAN_MCAN_ECR_TEC_MSK) <<
CAN_MCAN_ECR_TEC_POS;
err_cnt->tx_err_cnt = (can->ecr & CAN_MCAN_ECR_REC_MSK) <<
CAN_MCAN_ECR_REC_POS;
if (can->psr & CAN_MCAN_PSR_BO) {
return CAN_BUS_OFF;
}
if (can->psr & CAN_MCAN_PSR_EP) {
return CAN_ERROR_PASSIVE;
}
return CAN_ERROR_ACTIVE;
}
#ifndef CONFIG_CAN_AUTO_BUS_OFF_RECOVERY
int can_mcan_recover(struct can_mcan_reg *can, k_timeout_t timeout)
{
return can_leave_init_mode(can, timeout);
}
#endif /* CONFIG_CAN_AUTO_BUS_OFF_RECOVERY */
int can_mcan_send(const struct can_mcan_config *cfg,
struct can_mcan_data *data,
struct can_mcan_msg_sram *msg_ram,
const struct zcan_frame *frame,
k_timeout_t timeout,
can_tx_callback_t callback, void *callback_arg)
{
struct can_mcan_reg *can = cfg->can;
size_t data_length = can_dlc_to_bytes(frame->dlc);
struct can_mcan_tx_buffer_hdr tx_hdr = {
.rtr = frame->rtr == CAN_REMOTEREQUEST,
.xtd = frame->id_type == CAN_EXTENDED_IDENTIFIER,
.esi = 0,
.dlc = frame->dlc,
#ifdef CONFIG_CAN_FD_MODE
.brs = frame->brs == true,
#endif
.fdf = frame->fd,
.efc = 1,
};
uint32_t put_idx;
int ret;
struct can_mcan_mm mm;
volatile uint32_t *dst, *end;
const uint32_t *src;
LOG_DBG("Sending %d bytes. Id: 0x%x, ID type: %s %s %s %s",
data_length, frame->id,
frame->id_type == CAN_STANDARD_IDENTIFIER ?
"standard" : "extended",
frame->rtr == CAN_DATAFRAME ? "" : "RTR",
frame->fd == CAN_DATAFRAME ? "" : "FD frame",
frame->brs == CAN_DATAFRAME ? "" : "BRS");
if (data_length > sizeof(frame->data)) {
LOG_ERR("data length (%zu) > max frame data length (%zu)",
data_length, sizeof(frame->data));
return CAN_TX_EINVAL;
}
if (frame->fd != 1 && frame->dlc > MCAN_MAX_DLC) {
LOG_ERR("DLC of %d without fd flag set.", frame->dlc);
return CAN_TX_EINVAL;
}
if (can->psr & CAN_MCAN_PSR_BO) {
return CAN_TX_BUS_OFF;
}
ret = k_sem_take(&data->tx_sem, timeout);
if (ret != 0) {
return CAN_TIMEOUT;
}
__ASSERT_NO_MSG((can->txfqs & CAN_MCAN_TXFQS_TFQF) !=
CAN_MCAN_TXFQS_TFQF);
k_mutex_lock(&data->tx_mtx, K_FOREVER);
put_idx = ((can->txfqs & CAN_MCAN_TXFQS_TFQPI) >>
CAN_MCAN_TXFQS_TFQPI_POS);
mm.idx = put_idx;
mm.cnt = data->mm.cnt++;
tx_hdr.mm = mm;
if (frame->id_type == CAN_STANDARD_IDENTIFIER) {
tx_hdr.std_id = frame->id & CAN_STD_ID_MASK;
} else {
tx_hdr.ext_id = frame->id;
}
msg_ram->tx_buffer[put_idx].hdr = tx_hdr;
for (src = frame->data_32,
dst = msg_ram->tx_buffer[put_idx].data_32,
end = dst + CAN_DIV_CEIL(data_length, sizeof(uint32_t));
dst < end;
src++, dst++) {
*dst = *src;
}
data->tx_fin_cb[put_idx] = callback;
data->tx_fin_cb_arg[put_idx] = callback_arg;
can->txbar = (1U << put_idx);
k_mutex_unlock(&data->tx_mtx);
if (callback == NULL) {
LOG_DBG("Waiting for TX complete");
k_sem_take(&data->tx_fin_sem[put_idx], K_FOREVER);
}
return CAN_TX_OK;
}
static int can_mcan_get_free_std(volatile struct can_mcan_std_filter *filters)
{
for (int i = 0; i < NUM_STD_FILTER_DATA; ++i) {
if (filters[i].sfce == CAN_MCAN_FCE_DISABLE) {
return i;
}
}
return CAN_NO_FREE_FILTER;
}
/* Use masked configuration only for simplicity. If someone needs more than
* 28 standard filters, dual mode needs to be implemented.
* Dual mode gets tricky, because we can only activate both filters.
* If one of the IDs is not used anymore, we would need to mark it as unused.
*/
int can_mcan_attach_std(struct can_mcan_data *data,
struct can_mcan_msg_sram *msg_ram,
can_rx_callback_t isr, void *cb_arg,
const struct zcan_filter *filter)
{
struct can_mcan_std_filter filter_element = {
.id1 = filter->id,
.id2 = filter->id_mask,
.sft = CAN_MCAN_SFT_MASKED
};
int filter_nr;
k_mutex_lock(&data->inst_mutex, K_FOREVER);
filter_nr = can_mcan_get_free_std(msg_ram->std_filt);
if (filter_nr == CAN_NO_FREE_FILTER) {
LOG_INF("No free standard id filter left");
return CAN_NO_FREE_FILTER;
}
/* TODO propper fifo balancing */
filter_element.sfce = filter_nr & 0x01 ? CAN_MCAN_FCE_FIFO1 :
CAN_MCAN_FCE_FIFO0;
msg_ram->std_filt[filter_nr] = filter_element;
k_mutex_unlock(&data->inst_mutex);
LOG_DBG("Attached std filter at %d", filter_nr);
if (filter->rtr) {
data->std_filt_rtr |= (1U << filter_nr);
} else {
data->std_filt_rtr &= ~(1U << filter_nr);
}
if (filter->rtr_mask) {
data->std_filt_rtr_mask |= (1U << filter_nr);
} else {
data->std_filt_rtr_mask &= ~(1U << filter_nr);
}
data->rx_cb_std[filter_nr] = isr;
data->cb_arg_std[filter_nr] = cb_arg;
return filter_nr;
}
static int can_mcan_get_free_ext(volatile struct can_mcan_ext_filter *filters)
{
for (int i = 0; i < NUM_EXT_FILTER_DATA; ++i) {
if (filters[i].efce == CAN_MCAN_FCE_DISABLE) {
return i;
}
}
return CAN_NO_FREE_FILTER;
}
static int can_mcan_attach_ext(struct can_mcan_data *data,
struct can_mcan_msg_sram *msg_ram,
can_rx_callback_t isr, void *cb_arg,
const struct zcan_filter *filter)
{
struct can_mcan_ext_filter filter_element = {
.id2 = filter->id_mask,
.id1 = filter->id,
.eft = CAN_MCAN_EFT_MASKED
};
int filter_nr;
k_mutex_lock(&data->inst_mutex, K_FOREVER);
filter_nr = can_mcan_get_free_ext(msg_ram->ext_filt);
if (filter_nr == CAN_NO_FREE_FILTER) {
LOG_INF("No free extender id filter left");
return CAN_NO_FREE_FILTER;
}
/* TODO propper fifo balancing */
filter_element.efce = filter_nr & 0x01 ? CAN_MCAN_FCE_FIFO1 :
CAN_MCAN_FCE_FIFO0;
msg_ram->ext_filt[filter_nr] = filter_element;
k_mutex_unlock(&data->inst_mutex);
LOG_DBG("Attached ext filter at %d", filter_nr);
if (filter->rtr) {
data->ext_filt_rtr |= (1U << filter_nr);
} else {
data->ext_filt_rtr &= ~(1U << filter_nr);
}
if (filter->rtr_mask) {
data->ext_filt_rtr_mask |= (1U << filter_nr);
} else {
data->ext_filt_rtr_mask &= ~(1U << filter_nr);
}
data->rx_cb_ext[filter_nr] = isr;
data->cb_arg_ext[filter_nr] = cb_arg;
return filter_nr;
}
int can_mcan_attach_isr(struct can_mcan_data *data,
struct can_mcan_msg_sram *msg_ram,
can_rx_callback_t isr, void *cb_arg,
const struct zcan_filter *filter)
{
int filter_nr;
if (!isr) {
return -EINVAL;
}
if (filter->id_type == CAN_STANDARD_IDENTIFIER) {
filter_nr = can_mcan_attach_std(data, msg_ram, isr, cb_arg,
filter);
} else {
filter_nr = can_mcan_attach_ext(data, msg_ram, isr, cb_arg,
filter);
filter_nr += NUM_STD_FILTER_DATA;
}
if (filter_nr == CAN_NO_FREE_FILTER) {
LOG_INF("No free filter left");
}
return filter_nr;
}
void can_mcan_detach(struct can_mcan_data *data,
struct can_mcan_msg_sram *msg_ram, int filter_nr)
{
const struct can_mcan_ext_filter ext_filter = {0};
const struct can_mcan_std_filter std_filter = {0};
k_mutex_lock(&data->inst_mutex, K_FOREVER);
if (filter_nr >= NUM_STD_FILTER_DATA) {
filter_nr -= NUM_STD_FILTER_DATA;
if (filter_nr >= NUM_STD_FILTER_DATA) {
LOG_ERR("Wrong filter id");
return;
}
msg_ram->ext_filt[filter_nr] = ext_filter;
data->rx_cb_ext[filter_nr] = NULL;
} else {
msg_ram->std_filt[filter_nr] = std_filter;
data->rx_cb_std[filter_nr] = NULL;
}
k_mutex_unlock(&data->inst_mutex);
}
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