| /* |
| * Copyright (c) 2020 Abram Early |
| * Copyright (c) 2023 Andriy Gelman |
| * |
| * SPDX-License-Identifier: Apache-2.0 |
| */ |
| |
| #ifndef ZEPHYR_DRIVERS_CAN_MICROCHIP_MCP251XFD_H_ |
| #define ZEPHYR_DRIVERS_CAN_MICROCHIP_MCP251XFD_H_ |
| |
| #include <stdint.h> |
| |
| #include <zephyr/drivers/can.h> |
| #include <zephyr/drivers/gpio.h> |
| #include <zephyr/drivers/spi.h> |
| |
| #define MCP251XFD_UINT32_FLAG_TO_BYTE_MASK(flag_u32) \ |
| ((flag_u32) >> ROUND_DOWN(LOG2((flag_u32)), 8)) |
| |
| #define MCP251XFD_RAM_START_ADDR 0x400 |
| #define MCP251XFD_RAM_SIZE 2048 |
| #define MCP251XFD_RAM_ALIGNMENT 4 |
| #define MCP251XFD_PAYLOAD_SIZE CAN_MAX_DLEN |
| |
| #define MCP251XFD_FIFO_TYPE_TEF 0 |
| #define MCP251XFD_FIFO_TYPE_RX 1 |
| |
| #define MCP251XFD_TEF_FIFO_ITEM_SIZE 8 |
| #define MCP251XFD_TX_QUEUE_ITEM_SIZE (8 + MCP251XFD_PAYLOAD_SIZE) |
| |
| #if defined(CONFIG_CAN_RX_TIMESTAMP) |
| #define MCP251XFD_RX_FIFO_ITEM_SIZE (4 + 8 + MCP251XFD_PAYLOAD_SIZE) |
| #else |
| #define MCP251XFD_RX_FIFO_ITEM_SIZE (8 + MCP251XFD_PAYLOAD_SIZE) |
| #endif |
| |
| #define MCP251XFD_TEF_FIFO_START_ADDR 0 |
| #define MCP251XFD_TEF_FIFO_ITEMS CONFIG_CAN_MCP251XFD_MAX_TX_QUEUE |
| #define MCP251XFD_TEF_FIFO_SIZE (MCP251XFD_TEF_FIFO_ITEMS * MCP251XFD_TEF_FIFO_ITEM_SIZE) |
| |
| #define MCP251XFD_TX_QUEUE_START_ADDR MCP251XFD_TEF_FIFO_SIZE |
| #define MCP251XFD_TX_QUEUE_ITEMS CONFIG_CAN_MCP251XFD_MAX_TX_QUEUE |
| #define MCP251XFD_TX_QUEUE_SIZE (MCP251XFD_TX_QUEUE_ITEMS * MCP251XFD_TX_QUEUE_ITEM_SIZE) |
| |
| #define MCP251XFD_RX_FIFO_START_ADDR (MCP251XFD_TX_QUEUE_START_ADDR + MCP251XFD_TX_QUEUE_SIZE) |
| #define MCP251XFD_RX_FIFO_SIZE_MAX (MCP251XFD_RAM_SIZE - MCP251XFD_RX_FIFO_START_ADDR) |
| #define MCP251XFD_RX_FIFO_ITEMS_MAX (MCP251XFD_RX_FIFO_SIZE_MAX / MCP251XFD_RX_FIFO_ITEM_SIZE) |
| |
| #define MCP251XFD_RX_FIFO_ITEMS CONFIG_CAN_MCP251XFD_RX_FIFO_ITEMS |
| #define MCP251XFD_RX_FIFO_SIZE (MCP251XFD_RX_FIFO_ITEMS * MCP251XFD_RX_FIFO_ITEM_SIZE) |
| |
| #define MCP251XFD_RX_FIFO_IDX 1 |
| #define MCP251XFD_REG_SIZE 4 |
| |
| #define MCP251XFD_CRC_POLY 0x8005 |
| #define MCP251XFD_CRC_SEED 0xffff |
| |
| BUILD_ASSERT(MCP251XFD_TEF_FIFO_SIZE + MCP251XFD_TX_QUEUE_SIZE + |
| MCP251XFD_RX_FIFO_SIZE <= MCP251XFD_RAM_SIZE, |
| "Cannot fit FIFOs into RAM"); |
| |
| /* Timeout for changing mode */ |
| #define MCP251XFD_MODE_CHANGE_TIMEOUT_USEC 200000U |
| #define MCP251XFD_MODE_CHANGE_RETRIES 100 |
| |
| #define MCP251XFD_PLLRDY_TIMEOUT_USEC 100000 |
| #define MCP251XFD_PLLRDY_RETRIES 100 |
| |
| #define MCP251XFD_MAX_INT_HANDLER_CALLS 10 |
| #define MCP251XFD_INT_HANDLER_SLEEP_USEC 10000 |
| |
| |
| struct mcp251xfd_mailbox { |
| can_tx_callback_t cb; |
| void *cb_arg; |
| }; |
| |
| #define MCP251XFD_SPI_CMD_LEN 2 |
| #define MCP251XFD_SPI_LEN_FIELD_LEN 1 |
| #define MCP251XFD_SPI_CRC_LEN 2 |
| |
| /* MPC251x registers - mostly copied from Linux kernel implementation of driver */ |
| |
| /* CAN FD Controller Module SFR */ |
| #define MCP251XFD_REG_CON 0x00 |
| #define MCP251XFD_REG_CON_TXBWS_MASK GENMASK(31, 28) |
| #define MCP251XFD_REG_CON_ABAT BIT(27) |
| #define MCP251XFD_REG_CON_REQOP_MASK GENMASK(26, 24) |
| #define MCP251XFD_REG_CON_MODE_MIXED 0 |
| #define MCP251XFD_REG_CON_MODE_SLEEP 1 |
| #define MCP251XFD_REG_CON_MODE_INT_LOOPBACK 2 |
| #define MCP251XFD_REG_CON_MODE_LISTENONLY 3 |
| #define MCP251XFD_REG_CON_MODE_CONFIG 4 |
| #define MCP251XFD_REG_CON_MODE_EXT_LOOPBACK 5 |
| #define MCP251XFD_REG_CON_MODE_CAN2_0 6 |
| #define MCP251XFD_REG_CON_MODE_RESTRICTED 7 |
| #define MCP251XFD_REG_CON_OPMOD_MASK GENMASK(23, 21) |
| #define MCP251XFD_REG_CON_TXQEN BIT(20) |
| #define MCP251XFD_REG_CON_STEF BIT(19) |
| #define MCP251XFD_REG_CON_SERR2LOM BIT(18) |
| #define MCP251XFD_REG_CON_ESIGM BIT(17) |
| #define MCP251XFD_REG_CON_RTXAT BIT(16) |
| #define MCP251XFD_REG_CON_BRSDIS BIT(12) |
| #define MCP251XFD_REG_CON_BUSY BIT(11) |
| #define MCP251XFD_REG_CON_WFT_MASK GENMASK(10, 9) |
| #define MCP251XFD_REG_CON_WFT_T00FILTER 0x0 |
| #define MCP251XFD_REG_CON_WFT_T01FILTER 0x1 |
| #define MCP251XFD_REG_CON_WFT_T10FILTER 0x2 |
| #define MCP251XFD_REG_CON_WFT_T11FILTER 0x3 |
| #define MCP251XFD_REG_CON_WAKFIL BIT(8) |
| #define MCP251XFD_REG_CON_PXEDIS BIT(6) |
| #define MCP251XFD_REG_CON_ISOCRCEN BIT(5) |
| #define MCP251XFD_REG_CON_DNCNT_MASK GENMASK(4, 0) |
| |
| #define MCP251XFD_REG_CON_B2 (MCP251XFD_REG_CON + 2) |
| #define MCP251XFD_REG_CON_B3 (MCP251XFD_REG_CON + 3) |
| |
| #define MCP251XFD_REG_NBTCFG 0x04 |
| #define MCP251XFD_REG_NBTCFG_BRP_MASK GENMASK(31, 24) |
| #define MCP251XFD_REG_NBTCFG_TSEG1_MASK GENMASK(23, 16) |
| #define MCP251XFD_REG_NBTCFG_TSEG2_MASK GENMASK(14, 8) |
| #define MCP251XFD_REG_NBTCFG_SJW_MASK GENMASK(6, 0) |
| |
| #define MCP251XFD_REG_DBTCFG 0x08 |
| #define MCP251XFD_REG_DBTCFG_BRP_MASK GENMASK(31, 24) |
| #define MCP251XFD_REG_DBTCFG_TSEG1_MASK GENMASK(20, 16) |
| #define MCP251XFD_REG_DBTCFG_TSEG2_MASK GENMASK(11, 8) |
| #define MCP251XFD_REG_DBTCFG_SJW_MASK GENMASK(3, 0) |
| |
| #define MCP251XFD_REG_TDC 0x0c |
| #define MCP251XFD_REG_TDC_EDGFLTEN BIT(25) |
| #define MCP251XFD_REG_TDC_SID11EN BIT(24) |
| #define MCP251XFD_REG_TDC_TDCMOD_MASK GENMASK(17, 16) |
| #define MCP251XFD_REG_TDC_TDCMOD_AUTO 2 |
| #define MCP251XFD_REG_TDC_TDCMOD_MANUAL 1 |
| #define MCP251XFD_REG_TDC_TDCMOD_DISABLED 0 |
| #define MCP251XFD_REG_TDC_TDCO_MASK GENMASK(14, 8) |
| #define MCP251XFD_REG_TDC_TDCV_MASK GENMASK(5, 0) |
| #define MCP251XFD_REG_TDC_TDCO_MIN -64 |
| #define MCP251XFD_REG_TDC_TDCO_MAX 63 |
| |
| #define MCP251XFD_REG_TBC 0x10 |
| |
| #define MCP251XFD_REG_TSCON 0x14 |
| #define MCP251XFD_REG_TSCON_TSRES BIT(18) |
| #define MCP251XFD_REG_TSCON_TSEOF BIT(17) |
| #define MCP251XFD_REG_TSCON_TBCEN BIT(16) |
| #define MCP251XFD_REG_TSCON_TBCPRE_MASK GENMASK(9, 0) |
| |
| #define MCP251XFD_REG_VEC 0x18 |
| #define MCP251XFD_REG_VEC_RXCODE_MASK GENMASK(30, 24) |
| #define MCP251XFD_REG_VEC_TXCODE_MASK GENMASK(22, 16) |
| #define MCP251XFD_REG_VEC_FILHIT_MASK GENMASK(12, 8) |
| #define MCP251XFD_REG_VEC_ICODE_MASK GENMASK(6, 0) |
| |
| #define MCP251XFD_REG_INT 0x1c |
| #define MCP251XFD_REG_INT_IF_MASK GENMASK(15, 0) |
| #define MCP251XFD_REG_INT_IE_MASK GENMASK(31, 16) |
| #define MCP251XFD_REG_INT_IVMIE BIT(31) |
| #define MCP251XFD_REG_INT_WAKIE BIT(30) |
| #define MCP251XFD_REG_INT_CERRIE BIT(29) |
| #define MCP251XFD_REG_INT_SERRIE BIT(28) |
| #define MCP251XFD_REG_INT_RXOVIE BIT(27) |
| #define MCP251XFD_REG_INT_TXATIE BIT(26) |
| #define MCP251XFD_REG_INT_SPICRCIE BIT(25) |
| #define MCP251XFD_REG_INT_ECCIE BIT(24) |
| #define MCP251XFD_REG_INT_TEFIE BIT(20) |
| #define MCP251XFD_REG_INT_MODIE BIT(19) |
| #define MCP251XFD_REG_INT_TBCIE BIT(18) |
| #define MCP251XFD_REG_INT_RXIE BIT(17) |
| #define MCP251XFD_REG_INT_TXIE BIT(16) |
| #define MCP251XFD_REG_INT_IVMIF BIT(15) |
| #define MCP251XFD_REG_INT_WAKIF BIT(14) |
| #define MCP251XFD_REG_INT_CERRIF BIT(13) |
| #define MCP251XFD_REG_INT_SERRIF BIT(12) |
| #define MCP251XFD_REG_INT_RXOVIF BIT(11) |
| #define MCP251XFD_REG_INT_TXATIF BIT(10) |
| #define MCP251XFD_REG_INT_SPICRCIF BIT(9) |
| #define MCP251XFD_REG_INT_ECCIF BIT(8) |
| #define MCP251XFD_REG_INT_TEFIF BIT(4) |
| #define MCP251XFD_REG_INT_MODIF BIT(3) |
| #define MCP251XFD_REG_INT_TBCIF BIT(2) |
| #define MCP251XFD_REG_INT_RXIF BIT(1) |
| #define MCP251XFD_REG_INT_TXIF BIT(0) |
| |
| /* These IRQ flags must be cleared by SW in the CAN_INT register */ |
| #define MCP251XFD_REG_INT_IF_CLEARABLE_MASK \ |
| (MCP251XFD_REG_INT_IVMIF | MCP251XFD_REG_INT_WAKIF | MCP251XFD_REG_INT_CERRIF | \ |
| MCP251XFD_REG_INT_SERRIF | MCP251XFD_REG_INT_MODIF) |
| |
| #define MCP251XFD_REG_RXIF 0x20 |
| #define MCP251XFD_REG_TXIF 0x24 |
| #define MCP251XFD_REG_RXOVIF 0x28 |
| #define MCP251XFD_REG_TXATIF 0x2c |
| #define MCP251XFD_REG_TXREQ 0x30 |
| |
| #define MCP251XFD_REG_TREC 0x34 |
| #define MCP251XFD_REG_TREC_TXBO BIT(21) |
| #define MCP251XFD_REG_TREC_TXBP BIT(20) |
| #define MCP251XFD_REG_TREC_RXBP BIT(19) |
| #define MCP251XFD_REG_TREC_TXWARN BIT(18) |
| #define MCP251XFD_REG_TREC_RXWARN BIT(17) |
| #define MCP251XFD_REG_TREC_EWARN BIT(16) |
| #define MCP251XFD_REG_TREC_TEC_MASK GENMASK(15, 8) |
| #define MCP251XFD_REG_TREC_REC_MASK GENMASK(7, 0) |
| |
| #define MCP251XFD_REG_BDIAG0 0x38 |
| #define MCP251XFD_REG_BDIAG0_DTERRCNT_MASK GENMASK(31, 24) |
| #define MCP251XFD_REG_BDIAG0_DRERRCNT_MASK GENMASK(23, 16) |
| #define MCP251XFD_REG_BDIAG0_NTERRCNT_MASK GENMASK(15, 8) |
| #define MCP251XFD_REG_BDIAG0_NRERRCNT_MASK GENMASK(7, 0) |
| |
| #define MCP251XFD_REG_BDIAG1 0x3c |
| #define MCP251XFD_REG_BDIAG1_DLCMM BIT(31) |
| #define MCP251XFD_REG_BDIAG1_ESI BIT(30) |
| #define MCP251XFD_REG_BDIAG1_DCRCERR BIT(29) |
| #define MCP251XFD_REG_BDIAG1_DSTUFERR BIT(28) |
| #define MCP251XFD_REG_BDIAG1_DFORMERR BIT(27) |
| #define MCP251XFD_REG_BDIAG1_DBIT1ERR BIT(25) |
| #define MCP251XFD_REG_BDIAG1_DBIT0ERR BIT(24) |
| #define MCP251XFD_REG_BDIAG1_TXBOERR BIT(23) |
| #define MCP251XFD_REG_BDIAG1_NCRCERR BIT(21) |
| #define MCP251XFD_REG_BDIAG1_NSTUFERR BIT(20) |
| #define MCP251XFD_REG_BDIAG1_NFORMERR BIT(19) |
| #define MCP251XFD_REG_BDIAG1_NACKERR BIT(18) |
| #define MCP251XFD_REG_BDIAG1_NBIT1ERR BIT(17) |
| #define MCP251XFD_REG_BDIAG1_NBIT0ERR BIT(16) |
| #define MCP251XFD_REG_BDIAG1_BERR_MASK \ |
| (MCP251XFD_REG_BDIAG1_DLCMM | MCP251XFD_REG_BDIAG1_ESI | MCP251XFD_REG_BDIAG1_DCRCERR | \ |
| MCP251XFD_REG_BDIAG1_DSTUFERR | MCP251XFD_REG_BDIAG1_DFORMERR | \ |
| MCP251XFD_REG_BDIAG1_DBIT1ERR | MCP251XFD_REG_BDIAG1_DBIT0ERR | \ |
| MCP251XFD_REG_BDIAG1_TXBOERR | MCP251XFD_REG_BDIAG1_NCRCERR | \ |
| MCP251XFD_REG_BDIAG1_NSTUFERR | MCP251XFD_REG_BDIAG1_NFORMERR | \ |
| MCP251XFD_REG_BDIAG1_NACKERR | MCP251XFD_REG_BDIAG1_NBIT1ERR | \ |
| MCP251XFD_REG_BDIAG1_NBIT0ERR) |
| #define MCP251XFD_REG_BDIAG1_EFMSGCNT_MASK GENMASK(15, 0) |
| |
| #define MCP251XFD_REG_TEFCON 0x40 |
| #define MCP251XFD_REG_TEFCON_FSIZE_MASK GENMASK(28, 24) |
| #define MCP251XFD_REG_TEFCON_FRESET BIT(10) |
| #define MCP251XFD_REG_TEFCON_UINC BIT(8) |
| #define MCP251XFD_REG_TEFCON_TEFTSEN BIT(5) |
| #define MCP251XFD_REG_TEFCON_TEFOVIE BIT(3) |
| #define MCP251XFD_REG_TEFCON_TEFFIE BIT(2) |
| #define MCP251XFD_REG_TEFCON_TEFHIE BIT(1) |
| #define MCP251XFD_REG_TEFCON_TEFNEIE BIT(0) |
| |
| #define MCP251XFD_REG_TEFSTA 0x44 |
| #define MCP251XFD_REG_TEFSTA_TEFOVIF BIT(3) |
| #define MCP251XFD_REG_TEFSTA_TEFFIF BIT(2) |
| #define MCP251XFD_REG_TEFSTA_TEFHIF BIT(1) |
| #define MCP251XFD_REG_TEFSTA_TEFNEIF BIT(0) |
| |
| #define MCP251XFD_REG_TEFUA 0x48 |
| |
| #define MCP251XFD_REG_TXQCON 0x50 |
| #define MCP251XFD_REG_TXQCON_PLSIZE_MASK GENMASK(31, 29) |
| #define MCP251XFD_REG_TXQCON_PLSIZE_8 0 |
| #define MCP251XFD_REG_TXQCON_PLSIZE_12 1 |
| #define MCP251XFD_REG_TXQCON_PLSIZE_16 2 |
| #define MCP251XFD_REG_TXQCON_PLSIZE_20 3 |
| #define MCP251XFD_REG_TXQCON_PLSIZE_24 4 |
| #define MCP251XFD_REG_TXQCON_PLSIZE_32 5 |
| #define MCP251XFD_REG_TXQCON_PLSIZE_48 6 |
| #define MCP251XFD_REG_TXQCON_PLSIZE_64 7 |
| #define MCP251XFD_REG_TXQCON_FSIZE_MASK GENMASK(28, 24) |
| #define MCP251XFD_REG_TXQCON_TXAT_UNLIMITED 3 |
| #define MCP251XFD_REG_TXQCON_TXAT_THREE_SHOT 1 |
| #define MCP251XFD_REG_TXQCON_TXAT_ONE_SHOT 0 |
| #define MCP251XFD_REG_TXQCON_TXAT_MASK GENMASK(22, 21) |
| #define MCP251XFD_REG_TXQCON_TXPRI_MASK GENMASK(20, 16) |
| #define MCP251XFD_REG_TXQCON_FRESET BIT(10) |
| #define MCP251XFD_REG_TXQCON_TXREQ BIT(9) |
| #define MCP251XFD_REG_TXQCON_UINC BIT(8) |
| #define MCP251XFD_REG_TXQCON_TXEN BIT(7) |
| #define MCP251XFD_REG_TXQCON_TXATIE BIT(4) |
| #define MCP251XFD_REG_TXQCON_TXQEIE BIT(2) |
| #define MCP251XFD_REG_TXQCON_TXQNIE BIT(0) |
| |
| #define MCP251XFD_REG_TXQSTA 0x54 |
| #define MCP251XFD_REG_TXQSTA_TXQCI_MASK GENMASK(12, 8) |
| #define MCP251XFD_REG_TXQSTA_TXABT BIT(7) |
| #define MCP251XFD_REG_TXQSTA_TXLARB BIT(6) |
| #define MCP251XFD_REG_TXQSTA_TXERR BIT(5) |
| #define MCP251XFD_REG_TXQSTA_TXATIF BIT(4) |
| #define MCP251XFD_REG_TXQSTA_TXQEIF BIT(2) |
| #define MCP251XFD_REG_TXQSTA_TXQNIF BIT(0) |
| |
| #define MCP251XFD_REG_TXQUA 0x58 |
| |
| #define MCP251XFD_REG_FIFOCON(x) (0x50 + 0xc * (x)) |
| #define MCP251XFD_REG_FIFOCON_PLSIZE_MASK GENMASK(31, 29) |
| #define MCP251XFD_REG_FIFOCON_PLSIZE_8 0 |
| #define MCP251XFD_REG_FIFOCON_PLSIZE_12 1 |
| #define MCP251XFD_REG_FIFOCON_PLSIZE_16 2 |
| #define MCP251XFD_REG_FIFOCON_PLSIZE_20 3 |
| #define MCP251XFD_REG_FIFOCON_PLSIZE_24 4 |
| #define MCP251XFD_REG_FIFOCON_PLSIZE_32 5 |
| #define MCP251XFD_REG_FIFOCON_PLSIZE_48 6 |
| #define MCP251XFD_REG_FIFOCON_PLSIZE_64 7 |
| #define MCP251XFD_REG_FIFOCON_FSIZE_MASK GENMASK(28, 24) |
| #define MCP251XFD_REG_FIFOCON_TXAT_MASK GENMASK(22, 21) |
| #define MCP251XFD_REG_FIFOCON_TXAT_ONE_SHOT 0 |
| #define MCP251XFD_REG_FIFOCON_TXAT_THREE_SHOT 1 |
| #define MCP251XFD_REG_FIFOCON_TXAT_UNLIMITED 3 |
| #define MCP251XFD_REG_FIFOCON_TXPRI_MASK GENMASK(20, 16) |
| #define MCP251XFD_REG_FIFOCON_FRESET BIT(10) |
| #define MCP251XFD_REG_FIFOCON_TXREQ BIT(9) |
| #define MCP251XFD_REG_FIFOCON_UINC BIT(8) |
| #define MCP251XFD_REG_FIFOCON_TXEN BIT(7) |
| #define MCP251XFD_REG_FIFOCON_RTREN BIT(6) |
| #define MCP251XFD_REG_FIFOCON_RXTSEN BIT(5) |
| #define MCP251XFD_REG_FIFOCON_TXATIE BIT(4) |
| #define MCP251XFD_REG_FIFOCON_RXOVIE BIT(3) |
| #define MCP251XFD_REG_FIFOCON_TFERFFIE BIT(2) |
| #define MCP251XFD_REG_FIFOCON_TFHRFHIE BIT(1) |
| #define MCP251XFD_REG_FIFOCON_TFNRFNIE BIT(0) |
| |
| #define MCP251XFD_REG_FIFOSTA(x) (0x54 + 0xc * (x)) |
| #define MCP251XFD_REG_FIFOSTA_FIFOCI_MASK GENMASK(12, 8) |
| #define MCP251XFD_REG_FIFOSTA_TXABT BIT(7) |
| #define MCP251XFD_REG_FIFOSTA_TXLARB BIT(6) |
| #define MCP251XFD_REG_FIFOSTA_TXERR BIT(5) |
| #define MCP251XFD_REG_FIFOSTA_TXATIF BIT(4) |
| #define MCP251XFD_REG_FIFOSTA_RXOVIF BIT(3) |
| #define MCP251XFD_REG_FIFOSTA_TFERFFIF BIT(2) |
| #define MCP251XFD_REG_FIFOSTA_TFHRFHIF BIT(1) |
| #define MCP251XFD_REG_FIFOSTA_TFNRFNIF BIT(0) |
| |
| #define MCP251XFD_REG_FIFOUA(x) (0x58 + 0xc * (x)) |
| |
| #define MCP251XFD_REG_BYTE_FLTCON(m) (0x1d0 + m) |
| #define MCP251XFD_REG_BYTE_FLTCON_FBP_MASK GENMASK(4, 0) |
| #define MCP251XFD_REG_BYTE_FLTCON_FLTEN BIT(7) |
| |
| #define MCP251XFD_REG_FLTOBJ(x) (0x1f0 + 0x8 * (x)) |
| #define MCP251XFD_REG_FLTOBJ_EXIDE BIT(30) |
| #define MCP251XFD_REG_FLTOBJ_SID11 BIT(29) |
| #define MCP251XFD_REG_FLTOBJ_EID_MASK GENMASK(28, 11) |
| #define MCP251XFD_REG_FLTOBJ_SID_MASK GENMASK(10, 0) |
| |
| #define MCP251XFD_REG_FLTMASK(x) (0x1f4 + 0x8 * (x)) |
| #define MCP251XFD_REG_MASK_MIDE BIT(30) |
| #define MCP251XFD_REG_MASK_MSID11 BIT(29) |
| #define MCP251XFD_REG_MASK_MEID_MASK GENMASK(28, 11) |
| #define MCP251XFD_REG_MASK_MSID_MASK GENMASK(10, 0) |
| |
| /* Message Object */ |
| #define MCP251XFD_OBJ_ID_SID11 BIT(29) |
| #define MCP251XFD_OBJ_ID_EID_MASK GENMASK(28, 11) |
| #define MCP251XFD_OBJ_ID_SID_MASK GENMASK(10, 0) |
| #define MCP251XFD_OBJ_FLAGS_SEQ_MCP2518FD_MASK GENMASK(31, 9) |
| #define MCP251XFD_OBJ_FLAGS_SEQ_MCP2517FD_MASK GENMASK(15, 9) |
| #define MCP251XFD_OBJ_FLAGS_SEQ_MASK MCP251XFD_OBJ_FLAGS_SEQ_MCP2518FD_MASK |
| #define MCP251XFD_OBJ_FLAGS_ESI BIT(8) |
| #define MCP251XFD_OBJ_FLAGS_FDF BIT(7) |
| #define MCP251XFD_OBJ_FLAGS_BRS BIT(6) |
| #define MCP251XFD_OBJ_FLAGS_RTR BIT(5) |
| #define MCP251XFD_OBJ_FLAGS_IDE BIT(4) |
| #define MCP251XFD_OBJ_FLAGS_DLC_MASK GENMASK(3, 0) |
| #define MCP251XFD_OBJ_FILHIT_MASK GENMASK(15, 11) |
| |
| #define MCP251XFD_OBJ_DATA_OFFSET 2 /* offset to the data in sizeof(uint32_t) */ |
| #define MCP251XFD_OBJ_HEADER_SIZE (MCP251XFD_OBJ_DATA_OFFSET * MCP251XFD_REG_SIZE) |
| |
| #define MCP251XFD_REG_FRAME_EFF_SID_MASK GENMASK(28, 18) |
| #define MCP251XFD_REG_FRAME_EFF_EID_MASK GENMASK(17, 0) |
| |
| /* MCP2517/18FD SFR */ |
| #define MCP251XFD_REG_OSC 0xe00 |
| #define MCP251XFD_REG_OSC_SCLKRDY BIT(12) |
| #define MCP251XFD_REG_OSC_OSCRDY BIT(10) |
| #define MCP251XFD_REG_OSC_PLLRDY BIT(8) |
| #define MCP251XFD_REG_OSC_CLKODIV_10 3 |
| #define MCP251XFD_REG_OSC_CLKODIV_4 2 |
| #define MCP251XFD_REG_OSC_CLKODIV_2 1 |
| #define MCP251XFD_REG_OSC_CLKODIV_1 0 |
| #define MCP251XFD_REG_OSC_CLKODIV_MASK GENMASK(6, 5) |
| #define MCP251XFD_REG_OSC_SCLKDIV BIT(4) |
| #define MCP251XFD_REG_OSC_LPMEN BIT(3) /* MCP2518FD only */ |
| #define MCP251XFD_REG_OSC_OSCDIS BIT(2) |
| #define MCP251XFD_REG_OSC_PLLEN BIT(0) |
| |
| #define MCP251XFD_REG_IOCON 0xe04 |
| #define MCP251XFD_REG_IOCON_INTOD BIT(30) |
| #define MCP251XFD_REG_IOCON_SOF BIT(29) |
| #define MCP251XFD_REG_IOCON_TXCANOD BIT(28) |
| #define MCP251XFD_REG_IOCON_PM1 BIT(25) |
| #define MCP251XFD_REG_IOCON_PM0 BIT(24) |
| #define MCP251XFD_REG_IOCON_GPIO1 BIT(17) |
| #define MCP251XFD_REG_IOCON_GPIO0 BIT(16) |
| #define MCP251XFD_REG_IOCON_LAT1 BIT(9) |
| #define MCP251XFD_REG_IOCON_LAT0 BIT(8) |
| #define MCP251XFD_REG_IOCON_XSTBYEN BIT(6) |
| #define MCP251XFD_REG_IOCON_TRIS1 BIT(1) |
| #define MCP251XFD_REG_IOCON_TRIS0 BIT(0) |
| |
| #define MCP251XFD_REG_CRC 0xe08 |
| #define MCP251XFD_REG_CRC_FERRIE BIT(25) |
| #define MCP251XFD_REG_CRC_CRCERRIE BIT(24) |
| #define MCP251XFD_REG_CRC_FERRIF BIT(17) |
| #define MCP251XFD_REG_CRC_CRCERRIF BIT(16) |
| #define MCP251XFD_REG_CRC_IF_MASK GENMASK(17, 16) |
| #define MCP251XFD_REG_CRC_MASK GENMASK(15, 0) |
| |
| #define MCP251XFD_REG_ECCCON 0xe0c |
| #define MCP251XFD_REG_ECCCON_PARITY_MASK GENMASK(14, 8) |
| #define MCP251XFD_REG_ECCCON_DEDIE BIT(2) |
| #define MCP251XFD_REG_ECCCON_SECIE BIT(1) |
| #define MCP251XFD_REG_ECCCON_ECCEN BIT(0) |
| |
| #define MCP251XFD_REG_ECCSTAT 0xe10 |
| #define MCP251XFD_REG_ECCSTAT_ERRADDR_MASK GENMASK(27, 16) |
| #define MCP251XFD_REG_ECCSTAT_IF_MASK GENMASK(2, 1) |
| #define MCP251XFD_REG_ECCSTAT_DEDIF BIT(2) |
| #define MCP251XFD_REG_ECCSTAT_SECIF BIT(1) |
| |
| #define MCP251XFD_REG_DEVID 0xe14 /* MCP2518FD only */ |
| #define MCP251XFD_REG_DEVID_ID_MASK GENMASK(7, 4) |
| #define MCP251XFD_REG_DEVID_REV_MASK GENMASK(3, 0) |
| |
| /* SPI commands */ |
| #define MCP251XFD_SPI_INSTRUCTION_RESET 0x0000 |
| #define MCP251XFD_SPI_INSTRUCTION_WRITE 0x2000 |
| #define MCP251XFD_SPI_INSTRUCTION_READ 0x3000 |
| #define MCP251XFD_SPI_INSTRUCTION_WRITE_CRC 0xa000 |
| #define MCP251XFD_SPI_INSTRUCTION_READ_CRC 0xb000 |
| #define MCP251XFD_SPI_INSTRUCTION_WRITE_CRC_SAFE 0xc000 |
| #define MCP251XFD_SPI_ADDRESS_MASK GENMASK(11, 0) |
| |
| #define MCP251XFD_REG_FIFOCON_TO_STA(addr) (addr + 0x4) |
| |
| #define MCP251XFD_REG_FLTCON(m) (0x1d0 + m) |
| |
| struct mcp251xfd_txobj { |
| uint32_t id; |
| uint32_t flags; |
| uint8_t data[CAN_MAX_DLEN]; |
| } __packed; |
| |
| struct mcp251xfd_rxobj { |
| uint32_t id; |
| uint32_t flags; |
| #if defined(CONFIG_CAN_RX_TIMESTAMP) |
| uint32_t timestamp; |
| #endif |
| uint8_t data[CAN_MAX_DLEN]; |
| } __packed; |
| |
| struct mcp251xfd_tefobj { |
| uint32_t id; |
| uint32_t flags; |
| } __packed; |
| |
| #define MCP251XFD_MAX_READ_FIFO_BUF_SIZE \ |
| MAX((MCP251XFD_RX_FIFO_ITEM_SIZE * MCP251XFD_RX_FIFO_ITEMS), \ |
| (MCP251XFD_TEF_FIFO_ITEM_SIZE * MCP251XFD_TEF_FIFO_ITEMS)) |
| |
| #define MCP251XFD_MAX_READ_CRC_BUF_SIZE \ |
| (MCP251XFD_SPI_CRC_LEN + 2 * MCP251XFD_REG_SIZE) |
| |
| #define MCP251XFD_SPI_BUF_SIZE \ |
| MAX(MCP251XFD_MAX_READ_FIFO_BUF_SIZE, MCP251XFD_MAX_READ_CRC_BUF_SIZE) |
| #define MCP251XFD_SPI_HEADER_LEN (MCP251XFD_SPI_CMD_LEN + MCP251XFD_SPI_LEN_FIELD_LEN) |
| |
| struct mcp251xfd_spi_data { |
| uint8_t _unused[4 - (MCP251XFD_SPI_HEADER_LEN % 4)]; /* so that buf is 4-byte aligned */ |
| uint8_t header[MCP251XFD_SPI_HEADER_LEN]; /* contains spi_cmd and length field (if used) */ |
| uint8_t buf[MCP251XFD_SPI_BUF_SIZE]; |
| } __packed __aligned(4); |
| |
| struct mcp251xfd_fifo { |
| uint32_t ram_start_addr; |
| uint16_t reg_fifocon_addr; |
| uint8_t capacity; |
| uint8_t item_size; |
| void (*msg_handler)(const struct device *dev, void *data); |
| }; |
| |
| struct mcp251xfd_data { |
| struct can_driver_data common; |
| |
| /* Interrupt Data */ |
| struct gpio_callback int_gpio_cb; |
| struct k_thread int_thread; |
| k_thread_stack_t *int_thread_stack; |
| struct k_sem int_sem; |
| |
| /* General */ |
| enum can_state state; |
| struct k_mutex mutex; |
| |
| /* TX Callback */ |
| struct k_sem tx_sem; |
| uint32_t mailbox_usage; |
| struct mcp251xfd_mailbox mailbox[CONFIG_CAN_MCP251XFD_MAX_TX_QUEUE]; |
| |
| /* Filter Data */ |
| uint32_t filter_usage; |
| struct can_filter filter[CONFIG_CAN_MAX_FILTER]; |
| can_rx_callback_t rx_cb[CONFIG_CAN_MAX_FILTER]; |
| void *cb_arg[CONFIG_CAN_MAX_FILTER]; |
| |
| const struct device *dev; |
| |
| uint8_t next_mcp251xfd_mode; |
| uint8_t current_mcp251xfd_mode; |
| int tdco; |
| |
| struct mcp251xfd_spi_data spi_data; |
| |
| }; |
| |
| struct mcp251xfd_timing_params { |
| uint8_t sjw; |
| uint8_t prop_seg; |
| uint8_t phase_seg1; |
| uint8_t phase_seg2; |
| }; |
| |
| struct mcp251xfd_config { |
| const struct can_driver_config common; |
| |
| /* spi configuration */ |
| struct spi_dt_spec bus; |
| struct gpio_dt_spec int_gpio_dt; |
| |
| uint32_t osc_freq; |
| |
| /* IO Config */ |
| bool sof_on_clko; |
| bool pll_enable; |
| uint8_t clko_div; |
| |
| uint16_t timestamp_prescaler; |
| |
| /* CAN Timing */ |
| struct mcp251xfd_timing_params timing_params; |
| #if defined(CONFIG_CAN_FD_MODE) |
| struct mcp251xfd_timing_params timing_params_data; |
| #endif |
| |
| const struct device *clk_dev; |
| uint8_t clk_id; |
| |
| struct mcp251xfd_fifo rx_fifo; |
| struct mcp251xfd_fifo tef_fifo; |
| }; |
| |
| #endif /* ZEPHYR_DRIVERS_CAN_MICROCHIP_MCP251XFD_H_ */ |
