blob: 9fa58c047417e68462ceb28f154c228ee6173120 [file] [log] [blame]
/*
* Copyright (c) 2018 Alexander Wachter
*
* SPDX-License-Identifier: Apache-2.0
*
*/
#ifndef ZEPHYR_DRIVERS_CAN_STM32_CAN_H_
#define ZEPHYR_DRIVERS_CAN_STM32_CAN_H_
#include <drivers/can.h>
#define DEV_DATA(dev) ((struct can_stm32_data *const)(dev)->data)
#define DEV_CFG(dev) \
((const struct can_stm32_config *const)(dev)->config)
#define BIT_SEG_LENGTH(cfg) ((cfg)->prop_ts1 + (cfg)->ts2 + 1)
#define CAN_NUMBER_OF_FILTER_BANKS (14)
#define CAN_MAX_NUMBER_OF_FILTERS (CAN_NUMBER_OF_FILTER_BANKS * 4)
#define CAN_FIRX_STD_IDE_POS (3U)
#define CAN_FIRX_STD_RTR_POS (4U)
#define CAN_FIRX_STD_ID_POS (5U)
#define CAN_FIRX_EXT_IDE_POS (2U)
#define CAN_FIRX_EXT_RTR_POS (1U)
#define CAN_FIRX_EXT_STD_ID_POS (21U)
#define CAN_FIRX_EXT_EXT_ID_POS (3U)
#define CAN_BANK_IS_EMPTY(usage, bank_nr) (((usage >> ((bank_nr) * 4)) & 0x0F) == 0x0F)
#define CAN_BANK_IN_LIST_MODE(can, bank) ((can)->FM1R & (1U << (bank)))
#define CAN_BANK_IN_32BIT_MODE(can, bank) ((can)->FS1R & (1U << (bank)))
#define CAN_IN_16BIT_LIST_MODE(can, bank) (CAN_BANK_IN_LIST_MODE(can, bank) && \
!CAN_BANK_IN_32BIT_MODE(can, bank))
#define CAN_IN_16BIT_MASK_MODE(can, bank) (!CAN_BANK_IN_LIST_MODE(can, bank) && \
!CAN_BANK_IN_32BIT_MODE(can, bank))
#define CAN_IN_32BIT_LIST_MODE(can, bank) (CAN_BANK_IN_LIST_MODE(can, bank) && \
CAN_BANK_IN_32BIT_MODE(can, bank))
#define CAN_IN_32BIT_MASK_MODE(can, bank) (!CAN_BANK_IN_LIST_MODE(can, bank) && \
CAN_BANK_IN_32BIT_MODE(can, bank))
struct can_mailbox {
can_tx_callback_t tx_callback;
void *callback_arg;
struct k_sem tx_int_sem;
uint32_t error_flags;
};
/* number = FSCx | FMBx */
enum can_filter_type {
CAN_FILTER_STANDARD_MASKED = 0,
CAN_FILTER_STANDARD = 1,
CAN_FILTER_EXTENDED_MASKED = 2,
CAN_FILTER_EXTENDED = 3
};
struct can_stm32_data {
struct k_mutex inst_mutex;
struct k_sem tx_int_sem;
struct can_mailbox mb0;
struct can_mailbox mb1;
struct can_mailbox mb2;
uint64_t filter_usage;
can_rx_callback_t rx_cb[CONFIG_CAN_MAX_FILTER];
void *cb_arg[CONFIG_CAN_MAX_FILTER];
can_state_change_isr_t state_change_isr;
};
struct can_stm32_config {
CAN_TypeDef *can; /*!< CAN Registers*/
CAN_TypeDef *master_can; /*!< CAN Registers for shared filter */
uint32_t bus_speed;
uint8_t sjw;
uint8_t prop_ts1;
uint8_t ts2;
struct stm32_pclken pclken;
void (*config_irq)(CAN_TypeDef *can);
};
#endif /*ZEPHYR_DRIVERS_CAN_STM32_CAN_H_*/