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/*
* Copyright (c) 2020 Alexander Wachter
*
* SPDX-License-Identifier: Apache-2.0
*
*/
#ifndef ZEPHYR_DRIVERS_CAN_MCAN_H_
#define ZEPHYR_DRIVERS_CAN_MCAN_H_
#include <zephyr/kernel.h>
#include <zephyr/devicetree.h>
#include <zephyr/drivers/can.h>
#include <zephyr/toolchain.h>
#include <stdint.h>
#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_fd_frame;
uint32_t std_filt_rtr;
uint32_t std_filt_rtr_mask;
uint16_t ext_filt_fd_frame;
uint16_t ext_filt_rtr;
uint16_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_ */