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drivers: can: mcan: refactor to get rid of wrapper functions

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Refactor the Bosch M_CAN shared driver functions to get rid of the
front-end driver wrapper functions.

This requires flipping the relationship between shared config/data
structs and front-end config/data structs. Front-end drivers can now
store a pointer to their custom config/data structs in the .custom
fields of the can_mcan_config and can_mcan_data data structures.

Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
This commit is contained in:
Henrik Brix Andersen 2022-04-19 13:46:30 +02:00 • committed by Carles Cufí
commit 5b3712a9ac
7 changed files with 300 additions and 703 deletions
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126
drivers/can/can_mcan.c
View file

@ -1,4 +1,5 @@
/*
* Copyright (c) 2022 Vestas Wind Systems A/S
* Copyright (c) 2020 Alexander Wachter
*
* SPDX-License-Identifier: Apache-2.0
@ -120,7 +121,7 @@ static int can_leave_init_mode(struct can_mcan_reg *can, k_timeout_t timeout)
return 0;
}
void can_mcan_configure_timing(struct can_mcan_reg *can,
void can_mcan_configure_timing(struct can_mcan_reg *can,
const struct can_timing *timing,
const struct can_timing *timing_data)
{
@ -183,10 +184,11 @@ void can_mcan_configure_timing(struct can_mcan_reg *can,
#endif
}
int can_mcan_set_timing(const struct can_mcan_config *cfg,
int can_mcan_set_timing(const struct device *dev,
const struct can_timing *timing,
const struct can_timing *timing_data)
{
const struct can_mcan_config *cfg = dev->config;
struct can_mcan_reg *can = cfg->can;
int ret;
@ -210,8 +212,9 @@ int can_mcan_set_timing(const struct can_mcan_config *cfg,
return 0;
}
int can_mcan_set_mode(const struct can_mcan_config *cfg, enum can_mode mode)
int can_mcan_set_mode(const struct device *dev, enum can_mode mode)
{
const struct can_mcan_config *cfg = dev->config;
struct can_mcan_reg *can = cfg->can;
int ret;
@ -279,18 +282,18 @@ int can_mcan_set_mode(const struct can_mcan_config *cfg, enum can_mode 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)
int can_mcan_init(const struct device *dev)
{
struct can_mcan_reg *can = cfg->can;
const struct can_mcan_config *cfg = dev->config;
struct can_mcan_data *data = dev->data;
struct can_mcan_reg *can = cfg->can;
struct can_mcan_msg_sram *msg_ram = data->msg_ram;
struct can_timing timing;
#ifdef CONFIG_CAN_FD_MODE
struct can_timing timing_data;
#endif
int ret;
data->dev = dev;
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);
@ -495,25 +498,27 @@ done:
return ret;
}
static void can_mcan_state_change_handler(const struct can_mcan_config *cfg,
struct can_mcan_data *data)
static void can_mcan_state_change_handler(const struct device *dev)
{
enum can_state state;
struct can_bus_err_cnt err_cnt;
struct can_mcan_data *data = dev->data;
const can_state_change_callback_t cb = data->state_change_cb;
void *cb_data = data->state_change_cb_data;
struct can_bus_err_cnt err_cnt;
enum can_state state;
(void)can_mcan_get_state(cfg, &state, &err_cnt);
(void)can_mcan_get_state(dev, &state, &err_cnt);
if (cb != NULL) {
cb(data->dev, state, err_cnt, cb_data);
cb(dev, state, err_cnt, cb_data);
}
}
static void can_mcan_tc_event_handler(struct can_mcan_reg *can,
struct can_mcan_msg_sram *msg_ram,
struct can_mcan_data *data)
static void can_mcan_tc_event_handler(const struct device *dev)
{
const struct can_mcan_config *cfg = dev->config;
struct can_mcan_data *data = dev->data;
struct can_mcan_reg *can = cfg->can;
struct can_mcan_msg_sram *msg_ram = data->msg_ram;
volatile struct can_mcan_tx_event_fifo *tx_event;
can_tx_callback_t tx_cb;
uint32_t event_idx, tx_idx;
@ -534,15 +539,15 @@ static void can_mcan_tc_event_handler(struct can_mcan_reg *can,
if (tx_cb == NULL) {
k_sem_give(&data->tx_fin_sem[tx_idx]);
} else {
tx_cb(data->dev, 0, data->tx_fin_cb_arg[tx_idx]);
tx_cb(dev, 0, 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)
void can_mcan_line_0_isr(const struct device *dev)
{
const struct can_mcan_config *cfg = dev->config;
struct can_mcan_data *data = dev->data;
struct can_mcan_reg *can = cfg->can;
do {
@ -550,12 +555,12 @@ void can_mcan_line_0_isr(const struct can_mcan_config *cfg,
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);
can_mcan_state_change_handler(dev);
}
/* 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);
can_mcan_tc_event_handler(dev);
}
if (can->ir & CAN_MCAN_IR_TEFL) {
@ -578,11 +583,12 @@ void can_mcan_line_0_isr(const struct can_mcan_config *cfg,
CAN_MCAN_IR_TEFL | CAN_MCAN_IR_TEFN));
}
static void can_mcan_get_message(struct can_mcan_data *data,
static void can_mcan_get_message(const struct device *dev,
volatile struct can_mcan_rx_fifo *fifo,
volatile uint32_t *fifo_status_reg,
volatile uint32_t *fifo_ack_reg)
{
struct can_mcan_data *data = dev->data;
uint32_t get_idx, filt_idx;
struct zcan_frame frame;
can_rx_callback_t cb;
@ -647,7 +653,7 @@ static void can_mcan_get_message(struct can_mcan_data *data,
}
if (cb) {
cb(data->dev, &frame, cb_arg);
cb(dev, &frame, cb_arg);
} else {
LOG_DBG("cb missing");
}
@ -659,24 +665,25 @@ static void can_mcan_get_message(struct can_mcan_data *data,
}
}
void can_mcan_line_1_isr(const struct can_mcan_config *cfg,
struct can_mcan_msg_sram *msg_ram,
struct can_mcan_data *data)
void can_mcan_line_1_isr(const struct device *dev)
{
const struct can_mcan_config *cfg = dev->config;
struct can_mcan_data *data = dev->data;
struct can_mcan_reg *can = cfg->can;
struct can_mcan_msg_sram *msg_ram = data->msg_ram;
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_mcan_get_message(dev, 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_mcan_get_message(dev, msg_ram->rx_fifo1,
&can->rxf1s, &can->rxf1a);
}
@ -694,9 +701,10 @@ void can_mcan_line_1_isr(const struct can_mcan_config *cfg,
CAN_MCAN_IR_RF0L | CAN_MCAN_IR_RF1L));
}
int can_mcan_get_state(const struct can_mcan_config *cfg, enum can_state *state,
int can_mcan_get_state(const struct device *dev, enum can_state *state,
struct can_bus_err_cnt *err_cnt)
{
const struct can_mcan_config *cfg = dev->config;
struct can_mcan_reg *can = cfg->can;
if (state != NULL) {
@ -723,8 +731,9 @@ int can_mcan_get_state(const struct can_mcan_config *cfg, enum can_state *state,
}
#ifndef CONFIG_CAN_AUTO_BUS_OFF_RECOVERY
int can_mcan_recover(const struct can_mcan_config *cfg, k_timeout_t timeout)
int can_mcan_recover(const struct device *dev, k_timeout_t timeout)
{
const struct can_mcan_config *cfg = dev->config;
struct can_mcan_reg *can = cfg->can;
return can_leave_init_mode(can, timeout);
@ -732,14 +741,15 @@ int can_mcan_recover(const struct can_mcan_config *cfg, k_timeout_t 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,
int can_mcan_send(const struct device *dev,
const struct zcan_frame *frame,
k_timeout_t timeout,
can_tx_callback_t callback, void *user_data)
{
struct can_mcan_reg *can = cfg->can;
const struct can_mcan_config *cfg = dev->config;
struct can_mcan_data *data = dev->data;
struct can_mcan_reg *can = cfg->can;
struct can_mcan_msg_sram *msg_ram = data->msg_ram;
size_t data_length = can_dlc_to_bytes(frame->dlc);
struct can_mcan_tx_buffer_hdr tx_hdr = {
.rtr = frame->rtr == CAN_REMOTEREQUEST,
@ -850,11 +860,12 @@ int can_mcan_get_max_filters(const struct device *dev, enum can_ide id_type)
* 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_add_rx_filter_std(struct can_mcan_data *data,
struct can_mcan_msg_sram *msg_ram,
int can_mcan_add_rx_filter_std(const struct device *dev,
can_rx_callback_t callback, void *user_data,
const struct zcan_filter *filter)
{
struct can_mcan_data *data = dev->data;
struct can_mcan_msg_sram *msg_ram = data->msg_ram;
struct can_mcan_std_filter filter_element = {
.id1 = filter->id,
.id2 = filter->id_mask,
@ -912,11 +923,12 @@ static int can_mcan_get_free_ext(volatile struct can_mcan_ext_filter *filters)
return -ENOSPC;
}
static int can_mcan_add_rx_filter_ext(struct can_mcan_data *data,
struct can_mcan_msg_sram *msg_ram,
static int can_mcan_add_rx_filter_ext(const struct device *dev,
can_rx_callback_t callback, void *user_data,
const struct zcan_filter *filter)
{
struct can_mcan_data *data = dev->data;
struct can_mcan_msg_sram *msg_ram = data->msg_ram;
struct can_mcan_ext_filter filter_element = {
.id2 = filter->id_mask,
.id1 = filter->id,
@ -963,8 +975,7 @@ static int can_mcan_add_rx_filter_ext(struct can_mcan_data *data,
return filter_id;
}
int can_mcan_add_rx_filter(struct can_mcan_data *data,
struct can_mcan_msg_sram *msg_ram,
int can_mcan_add_rx_filter(const struct device *dev,
can_rx_callback_t callback, void *user_data,
const struct zcan_filter *filter)
{
@ -975,11 +986,9 @@ int can_mcan_add_rx_filter(struct can_mcan_data *data,
}
if (filter->id_type == CAN_STANDARD_IDENTIFIER) {
filter_id = can_mcan_add_rx_filter_std(data, msg_ram, callback,
user_data, filter);
filter_id = can_mcan_add_rx_filter_std(dev, callback, user_data, filter);
} else {
filter_id = can_mcan_add_rx_filter_ext(data, msg_ram, callback,
user_data, filter);
filter_id = can_mcan_add_rx_filter_ext(dev, callback, user_data, filter);
if (filter_id >= 0) {
filter_id += NUM_STD_FILTER_DATA;
}
@ -988,9 +997,11 @@ int can_mcan_add_rx_filter(struct can_mcan_data *data,
return filter_id;
}
void can_mcan_remove_rx_filter(struct can_mcan_data *data,
struct can_mcan_msg_sram *msg_ram, int filter_id)
void can_mcan_remove_rx_filter(const struct device *dev, int filter_id)
{
struct can_mcan_data *data = dev->data;
struct can_mcan_msg_sram *msg_ram = data->msg_ram;
k_mutex_lock(&data->inst_mutex, K_FOREVER);
if (filter_id >= NUM_STD_FILTER_DATA) {
filter_id -= NUM_STD_FILTER_DATA;
@ -1012,3 +1023,22 @@ void can_mcan_remove_rx_filter(struct can_mcan_data *data,
k_mutex_unlock(&data->inst_mutex);
}
void can_mcan_set_state_change_callback(const struct device *dev,
can_state_change_callback_t callback,
void *user_data)
{
struct can_mcan_data *data = dev->data;
data->state_change_cb = callback;
data->state_change_cb_data = user_data;
}
int can_mcan_get_max_bitrate(const struct device *dev, uint32_t *max_bitrate)
{
const struct can_mcan_config *cfg = dev->config;
*max_bitrate = cfg->max_bitrate;
return 0;
}

40
drivers/can/can_mcan.h
View file

@ -166,7 +166,7 @@ struct can_mcan_msg_sram {
} __packed __aligned(4);
struct can_mcan_data {
const struct device *dev;
struct can_mcan_msg_sram *msg_ram;
struct k_mutex inst_mutex;
struct k_sem tx_sem;
struct k_mutex tx_mtx;
@ -184,6 +184,7 @@ struct can_mcan_data {
uint8_t ext_filt_rtr;
uint8_t ext_filt_rtr_mask;
struct can_mcan_mm mm;
void *custom;
} __aligned(4);
struct can_mcan_config {
@ -203,47 +204,44 @@ struct can_mcan_config {
#endif
const struct device *phy;
uint32_t max_bitrate;
const void *custom;
};
struct can_mcan_reg;
int can_mcan_set_mode(const struct can_mcan_config *cfg, enum can_mode mode);
int can_mcan_set_mode(const struct device *dev, enum can_mode mode);
int can_mcan_set_timing(const struct can_mcan_config *cfg,
int can_mcan_set_timing(const struct device *dev,
const struct can_timing *timing,
const struct can_timing *timing_data);
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);
int can_mcan_init(const struct device *dev);
void can_mcan_line_0_isr(const struct can_mcan_config *cfg,
struct can_mcan_msg_sram *msg_ram,
struct can_mcan_data *data);
void can_mcan_line_0_isr(const struct device *dev);
void can_mcan_line_1_isr(const struct can_mcan_config *cfg,
struct can_mcan_msg_sram *msg_ram,
struct can_mcan_data *data);
void can_mcan_line_1_isr(const struct device *dev);
int can_mcan_recover(const struct can_mcan_config *cfg, k_timeout_t timeout);
int can_mcan_recover(const struct device *dev, k_timeout_t timeout);
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,
int can_mcan_send(const struct device *dev, const struct zcan_frame *frame,
k_timeout_t timeout, can_tx_callback_t callback,
void *user_data);
int can_mcan_get_max_filters(const struct device *dev, enum can_ide id_type);
int can_mcan_add_rx_filter(struct can_mcan_data *data,
struct can_mcan_msg_sram *msg_ram,
int can_mcan_add_rx_filter(const struct device *dev,
can_rx_callback_t callback, void *user_data,
const struct zcan_filter *filter);
void can_mcan_remove_rx_filter(struct can_mcan_data *data,
struct can_mcan_msg_sram *msg_ram, int filter_id);
void can_mcan_remove_rx_filter(const struct device *dev, int filter_id);
int can_mcan_get_state(const struct can_mcan_config *cfg, enum can_state *state,
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);
#endif /* ZEPHYR_DRIVERS_CAN_MCAN_H_ */

154
drivers/can/can_mcux_mcan.c
View file

@ -6,7 +6,6 @@
#include <device.h>
#include <drivers/can.h>
#include <drivers/can/transceiver.h>
#include <drivers/clock_control.h>
#include <logging/log.h>
@ -17,159 +16,61 @@ LOG_MODULE_REGISTER(can_mcux_mcan, CONFIG_CAN_LOG_LEVEL);
#define DT_DRV_COMPAT nxp_lpc_mcan
struct mcux_mcan_config {
struct can_mcan_config mcan;
const struct device *clock_dev;
clock_control_subsys_t clock_subsys;
void (*irq_config_func)(const struct device *dev);
};
struct mcux_mcan_data {
struct can_mcan_data mcan;
struct can_mcan_msg_sram msg_ram __nocache;
};
static int mcux_mcan_set_mode(const struct device *dev, enum can_mode mode)
{
const struct mcux_mcan_config *config = dev->config;
return can_mcan_set_mode(&config->mcan, mode);
}
static int mcux_mcan_set_timing(const struct device *dev,
const struct can_timing *timing,
const struct can_timing *timing_data)
{
const struct mcux_mcan_config *config = dev->config;
return can_mcan_set_timing(&config->mcan, timing, timing_data);
}
static int mcux_mcan_send(const struct device *dev, const struct zcan_frame *msg,
k_timeout_t timeout, can_tx_callback_t callback,
void *user_data)
{
const struct mcux_mcan_config *config = dev->config;
struct mcux_mcan_data *data = dev->data;
return can_mcan_send(&config->mcan, &data->mcan, &data->msg_ram,
msg, timeout, callback, user_data);
}
static int mcux_mcan_add_rx_filter(const struct device *dev,
can_rx_callback_t cb,
void *user_data,
const struct zcan_filter *filter)
{
struct mcux_mcan_data *data = dev->data;
return can_mcan_add_rx_filter(&data->mcan, &data->msg_ram,
cb, user_data, filter);
}
static void mcux_mcan_remove_rx_filter(const struct device *dev, int filter_id)
{
struct mcux_mcan_data *data = dev->data;
can_mcan_remove_rx_filter(&data->mcan, &data->msg_ram, filter_id);
}
static int mcux_mcan_get_state(const struct device *dev, enum can_state *state,
struct can_bus_err_cnt *err_cnt)
{
const struct mcux_mcan_config *config = dev->config;
return can_mcan_get_state(&config->mcan, state, err_cnt);
}
static void mcux_mcan_set_state_change_callback(const struct device *dev,
can_state_change_callback_t cb,
void *user_data)
{
struct mcux_mcan_data *data = dev->data;
data->mcan.state_change_cb = cb;
data->mcan.state_change_cb_data = user_data;
}
static int mcux_mcan_get_core_clock(const struct device *dev, uint32_t *rate)
{
const struct mcux_mcan_config *config = dev->config;
const struct can_mcan_config *mcan_config = dev->config;
const struct mcux_mcan_config *mcux_config = mcan_config->custom;
return clock_control_get_rate(config->clock_dev, config->clock_subsys,
return clock_control_get_rate(mcux_config->clock_dev, mcux_config->clock_subsys,
rate);
}
static int mcux_mcan_get_max_bitrate(const struct device *dev, uint32_t *max_bitrate)
{
const struct mcux_mcan_config *config = dev->config;
*max_bitrate = config->mcan.max_bitrate;
return 0;
}
#ifndef CONFIG_CAN_AUTO_BUS_OFF_RECOVERY
static int mcux_mcan_recover(const struct device *dev, k_timeout_t timeout)
{
const struct mcux_mcan_config *config = dev->config;
return can_mcan_recover(&config->mcan, timeout);
}
#endif /* CONFIG_CAN_AUTO_BUS_OFF_RECOVERY */
static void mcux_mcan_line_0_isr(const struct device *dev)
{
const struct mcux_mcan_config *config = dev->config;
struct mcux_mcan_data *data = dev->data;
can_mcan_line_0_isr(&config->mcan, &data->msg_ram, &data->mcan);
}
static void mcux_mcan_line_1_isr(const struct device *dev)
{
const struct mcux_mcan_config *config = dev->config;
struct mcux_mcan_data *data = dev->data;
can_mcan_line_1_isr(&config->mcan, &data->msg_ram, &data->mcan);
}
static int mcux_mcan_init(const struct device *dev)
{
const struct mcux_mcan_config *config = dev->config;
struct mcux_mcan_data *data = dev->data;
const struct can_mcan_config *mcan_config = dev->config;
const struct mcux_mcan_config *mcux_config = mcan_config->custom;
int err;
err = clock_control_on(config->clock_dev, config->clock_subsys);
err = clock_control_on(mcux_config->clock_dev, mcux_config->clock_subsys);
if (err) {
LOG_ERR("failed to enable clock (err %d)", err);
return -EINVAL;
}
err = can_mcan_init(dev, &config->mcan, &data->msg_ram, &data->mcan);
err = can_mcan_init(dev);
if (err) {
LOG_ERR("failed to initialize mcan (err %d)", err);
return err;
}
config->irq_config_func(dev);
mcux_config->irq_config_func(dev);
return 0;
}
static const struct can_driver_api mcux_mcan_driver_api = {
.set_mode = mcux_mcan_set_mode,
.set_timing = mcux_mcan_set_timing,
.send = mcux_mcan_send,
.add_rx_filter = mcux_mcan_add_rx_filter,
.remove_rx_filter = mcux_mcan_remove_rx_filter,
.set_mode = can_mcan_set_mode,
.set_timing = can_mcan_set_timing,
.send = can_mcan_send,
.add_rx_filter = can_mcan_add_rx_filter,
.remove_rx_filter = can_mcan_remove_rx_filter,
#ifndef CONFIG_CAN_AUTO_BUS_OFF_RECOVERY
.recover = mcux_mcan_recover,
.recover = can_mcan_recover,
#endif /* CONFIG_CAN_AUTO_BUS_OFF_RECOVERY */
.get_state = mcux_mcan_get_state,
.set_state_change_callback = mcux_mcan_set_state_change_callback,
.get_state = can_mcan_get_state,
.set_state_change_callback = can_mcan_set_state_change_callback,
.get_core_clock = mcux_mcan_get_core_clock,
.get_max_filters = can_mcan_get_max_filters,
.get_max_bitrate = mcux_mcan_get_max_bitrate,
.get_max_bitrate = can_mcan_get_max_bitrate,
/*
* MCUX MCAN timing limits are specified in the "Nominal bit timing and
* prescaler register (NBTP)" table in the SoC reference manual.
@ -239,6 +140,7 @@ static const struct can_driver_api mcux_mcan_driver_api = {
DT_INST_PROP(n, tx_delay_comp_offset), \
.phy = DEVICE_DT_GET_OR_NULL(DT_INST_PHANDLE(n, phys)), \
.max_bitrate = DT_INST_CAN_TRANSCEIVER_MAX_BITRATE(n, 5000000), \
.custom = &mcux_mcan_config_##n, \
}
#else /* CONFIG_CAN_FD_MODE */
#define MCUX_MCAN_MCAN_INIT(n) \
@ -252,6 +154,7 @@ static const struct can_driver_api mcux_mcan_driver_api = {
.ts2 = DT_INST_PROP_OR(n, phase_seg2, 0), \
.phy = DEVICE_DT_GET_OR_NULL(DT_INST_PHANDLE(n, phys)), \
.max_bitrate = DT_INST_CAN_TRANSCEIVER_MAX_BITRATE(n, 1000000), \
.custom = &mcux_mcan_config_##n, \
}
#endif /* !CONFIG_CAN_FD_MODE */
@ -259,33 +162,40 @@ static const struct can_driver_api mcux_mcan_driver_api = {
static void mcux_mcan_irq_config_##n(const struct device *dev); \
\
static const struct mcux_mcan_config mcux_mcan_config_##n = { \
.mcan = MCUX_MCAN_MCAN_INIT(n), \
.clock_dev = DEVICE_DT_GET(DT_INST_CLOCKS_CTLR(n)), \
.clock_subsys = (clock_control_subsys_t) \
DT_INST_CLOCKS_CELL(n, name), \
.irq_config_func = mcux_mcan_irq_config_##n, \
}; \
\
static const struct can_mcan_config can_mcan_config_##n = \
MCUX_MCAN_MCAN_INIT(n); \
\
static struct mcux_mcan_data mcux_mcan_data_##n; \
\
static struct can_mcan_data can_mcan_data_##n = { \
.msg_ram = &mcux_mcan_data_##n.msg_ram, \
.custom = &mcux_mcan_data_##n, \
}; \
\
DEVICE_DT_INST_DEFINE(n, &mcux_mcan_init, NULL, \
&mcux_mcan_data_##n, \
&mcux_mcan_config_##n, \
&can_mcan_data_##n, \
&can_mcan_config_##n, \
POST_KERNEL, \
CONFIG_KERNEL_INIT_PRIORITY_DEVICE, \
CONFIG_CAN_INIT_PRIORITY, \
&mcux_mcan_driver_api); \
\
static void mcux_mcan_irq_config_##n(const struct device *dev) \
{ \
IRQ_CONNECT(DT_INST_IRQ_BY_IDX(n, 0, irq), \
DT_INST_IRQ_BY_IDX(n, 0, priority), \
mcux_mcan_line_0_isr, \
can_mcan_line_0_isr, \
DEVICE_DT_INST_GET(n), 0); \
irq_enable(DT_INST_IRQ_BY_IDX(n, 0, irq)); \
\
IRQ_CONNECT(DT_INST_IRQ_BY_IDX(n, 1, irq), \
DT_INST_IRQ_BY_IDX(n, 1, priority), \
mcux_mcan_line_1_isr, \
can_mcan_line_1_isr, \
DEVICE_DT_INST_GET(n), 0); \
irq_enable(DT_INST_IRQ_BY_IDX(n, 1, irq)); \
}

198
drivers/can/can_sam.c
View file

@ -1,51 +1,41 @@
/*
* Copyright (c) 2022 Vestas Wind Systems A/S
* Copyright (c) 2021 Alexander Wachter
*
* SPDX-License-Identifier: Apache-2.0
*/
#include "can_mcan.h"
#include <drivers/can.h>
#include <drivers/can/transceiver.h>
#include <drivers/pinctrl.h>
#include <soc.h>
#include <kernel.h>
#include <logging/log.h>
#include "can_mcan.h"
LOG_MODULE_REGISTER(can_sam, CONFIG_CAN_LOG_LEVEL);
#define DT_DRV_COMPAT atmel_sam_can
struct can_sam_config {
struct can_mcan_config mcan_cfg;
void (*config_irq)(void);
const struct pinctrl_dev_config *pcfg;
uint8_t pmc_id;
};
struct can_sam_data {
struct can_mcan_data mcan_data;
struct can_mcan_msg_sram msg_ram;
};
static int can_sam_get_core_clock(const struct device *dev, uint32_t *rate)
{
ARG_UNUSED(dev);
*rate = SOC_ATMEL_SAM_MCK_FREQ_HZ / (CONFIG_CAN_SAM_CKDIV + 1);
return 0;
}
static void can_sam_set_state_change_callback(const struct device *dev,
can_state_change_callback_t cb,
void *user_data)
{
struct can_sam_data *data = dev->data;
data->mcan_data.state_change_cb_data = user_data;
data->mcan_data.state_change_cb = cb;
}
static void can_sam_clock_enable(const struct can_sam_config *cfg)
{
REG_PMC_PCK5 = PMC_PCK_CSS_PLLA_CLK | PMC_PCK_PRES(CONFIG_CAN_SAM_CKDIV);
@ -55,141 +45,41 @@ static void can_sam_clock_enable(const struct can_sam_config *cfg)
static int can_sam_init(const struct device *dev)
{
const struct can_sam_config *cfg = dev->config;
const struct can_mcan_config *mcan_cfg = &cfg->mcan_cfg;
struct can_sam_data *data = dev->data;
struct can_mcan_data *mcan_data = &data->mcan_data;
struct can_mcan_msg_sram *msg_ram = &data->msg_ram;
const struct can_mcan_config *mcan_cfg = dev->config;
const struct can_sam_config *sam_cfg = mcan_cfg->custom;
int ret;
can_sam_clock_enable(cfg);
can_sam_clock_enable(sam_cfg);
ret = pinctrl_apply_state(cfg->pcfg, PINCTRL_STATE_DEFAULT);
ret = pinctrl_apply_state(sam_cfg->pcfg, PINCTRL_STATE_DEFAULT);
if (ret < 0) {
return ret;
}
ret = can_mcan_init(dev, mcan_cfg, msg_ram, mcan_data);
if (ret) {
ret = can_mcan_init(dev);
if (ret != 0) {
return ret;
}
cfg->config_irq();
sam_cfg->config_irq();
return ret;
}
static int can_sam_get_state(const struct device *dev, enum can_state *state,
struct can_bus_err_cnt *err_cnt)
{
const struct can_sam_config *cfg = dev->config;
const struct can_mcan_config *mcan_cfg = &cfg->mcan_cfg;
return can_mcan_get_state(mcan_cfg, state, err_cnt);
}
static int can_sam_send(const struct device *dev, const struct zcan_frame *frame,
k_timeout_t timeout, can_tx_callback_t callback, void *user_data)
{
const struct can_sam_config *cfg = dev->config;
const struct can_mcan_config *mcan_cfg = &cfg->mcan_cfg;
struct can_sam_data *data = dev->data;
struct can_mcan_data *mcan_data = &data->mcan_data;
struct can_mcan_msg_sram *msg_ram = &data->msg_ram;
return can_mcan_send(mcan_cfg, mcan_data, msg_ram, frame, timeout, callback, user_data);
}
static int can_sam_add_rx_filter(const struct device *dev, can_rx_callback_t cb, void *cb_arg,
const struct zcan_filter *filter)
{
struct can_sam_data *data = dev->data;
struct can_mcan_data *mcan_data = &data->mcan_data;
struct can_mcan_msg_sram *msg_ram = &data->msg_ram;
return can_mcan_add_rx_filter(mcan_data, msg_ram, cb, cb_arg, filter);
}
static void can_sam_remove_rx_filter(const struct device *dev, int filter_id)
{
struct can_sam_data *data = dev->data;
struct can_mcan_data *mcan_data = &data->mcan_data;
struct can_mcan_msg_sram *msg_ram = &data->msg_ram;
can_mcan_remove_rx_filter(mcan_data, msg_ram, filter_id);
}
static int can_sam_set_mode(const struct device *dev, enum can_mode mode)
{
const struct can_sam_config *cfg = dev->config;
const struct can_mcan_config *mcan_cfg = &cfg->mcan_cfg;
return can_mcan_set_mode(mcan_cfg, mode);
}
static int can_sam_set_timing(const struct device *dev, const struct can_timing *timing,
const struct can_timing *timing_data)
{
const struct can_sam_config *cfg = dev->config;
const struct can_mcan_config *mcan_cfg = &cfg->mcan_cfg;
return can_mcan_set_timing(mcan_cfg, timing, timing_data);
}
static int can_sam_get_max_bitrate(const struct device *dev, uint32_t *max_bitrate)
{
const struct can_sam_config *cfg = dev->config;
*max_bitrate = cfg->mcan_cfg.max_bitrate;
return 0;
}
static const struct can_driver_api can_sam_driver_api = {
.set_mode = can_mcan_set_mode,
.set_timing = can_mcan_set_timing,
.send = can_mcan_send,
.add_rx_filter = can_mcan_add_rx_filter,
.remove_rx_filter = can_mcan_remove_rx_filter,
.get_state = can_mcan_get_state,
#ifndef CONFIG_CAN_AUTO_BUS_OFF_RECOVERY
static int can_sam_recover(const struct device *dev, k_timeout_t timeout)
{
const struct can_sam_config *cfg = dev->config;
return can_mcan_recover(&cfg->mcan_cfg, timeout);
}
.recover = can_mcan_recover,
#endif /* CONFIG_CAN_AUTO_BUS_OFF_RECOVERY */
static void can_sam_line_0_isr(const struct device *dev)
{
const struct can_sam_config *cfg = dev->config;
const struct can_mcan_config *mcan_cfg = &cfg->mcan_cfg;
struct can_sam_data *data = dev->data;
struct can_mcan_data *mcan_data = &data->mcan_data;
struct can_mcan_msg_sram *msg_ram = &data->msg_ram;
can_mcan_line_0_isr(mcan_cfg, msg_ram, mcan_data);
}
static void can_sam_line_1_isr(const struct device *dev)
{
const struct can_sam_config *cfg = dev->config;
const struct can_mcan_config *mcan_cfg = &cfg->mcan_cfg;
struct can_sam_data *data = dev->data;
struct can_mcan_data *mcan_data = &data->mcan_data;
struct can_mcan_msg_sram *msg_ram = &data->msg_ram;
can_mcan_line_1_isr(mcan_cfg, msg_ram, mcan_data);
}
static const struct can_driver_api can_api_funcs = {
.set_mode = can_sam_set_mode,
.set_timing = can_sam_set_timing,
.send = can_sam_send,
.add_rx_filter = can_sam_add_rx_filter,
.remove_rx_filter = can_sam_remove_rx_filter,
.get_state = can_sam_get_state,
#ifndef CONFIG_CAN_AUTO_BUS_OFF_RECOVERY
.recover = can_sam_recover,
#endif
.get_core_clock = can_sam_get_core_clock,
.get_max_filters = can_mcan_get_max_filters,
.get_max_bitrate = can_sam_get_max_bitrate,
.set_state_change_callback = can_sam_set_state_change_callback,
.get_max_bitrate = can_mcan_get_max_bitrate,
.set_state_change_callback = can_mcan_set_state_change_callback,
.timing_min = {
.sjw = 0x1,
.prop_seg = 0x00,
@ -219,7 +109,7 @@ static const struct can_driver_api can_api_funcs = {
.phase_seg2 = 0x10,
.prescaler = 0x20
}
#endif
#endif /* CONFIG_CAN_FD_MODE */
};
#define CAN_SAM_IRQ_CFG_FUNCTION(inst) \
@ -227,11 +117,11 @@ static void config_can_##inst##_irq(void)
{ \
LOG_DBG("Enable CAN##inst## IRQ"); \
IRQ_CONNECT(DT_INST_IRQ_BY_NAME(inst, line_0, irq), \
DT_INST_IRQ_BY_NAME(inst, line_0, priority), can_sam_line_0_isr, \
DT_INST_IRQ_BY_NAME(inst, line_0, priority), can_mcan_line_0_isr, \
DEVICE_DT_INST_GET(inst), 0); \
irq_enable(DT_INST_IRQ_BY_NAME(inst, line_0, irq)); \
IRQ_CONNECT(DT_INST_IRQ_BY_NAME(inst, line_1, irq), \
DT_INST_IRQ_BY_NAME(inst, line_1, priority), can_sam_line_1_isr, \
DT_INST_IRQ_BY_NAME(inst, line_1, priority), can_mcan_line_1_isr, \
DEVICE_DT_INST_GET(inst), 0); \
irq_enable(DT_INST_IRQ_BY_NAME(inst, line_1, irq)); \
}
@ -253,6 +143,7 @@ static void config_can_##inst##_irq(void)
.tx_delay_comp_offset = DT_INST_PROP(inst, tx_delay_comp_offset), \
.phy = DEVICE_DT_GET_OR_NULL(DT_INST_PHANDLE(inst, phys)), \
.max_bitrate = DT_INST_CAN_TRANSCEIVER_MAX_BITRATE(inst, 5000000), \
.custom = &can_sam_cfg_##inst, \
}
#else /* CONFIG_CAN_FD_MODE */
#define CAN_SAM_MCAN_CFG(inst) \
@ -264,23 +155,34 @@ static void config_can_##inst##_irq(void)
.ts2 = DT_INST_PROP_OR(inst, phase_seg2, 0), \
.phy = DEVICE_DT_GET_OR_NULL(DT_INST_PHANDLE(inst, phys)), \
.max_bitrate = DT_INST_CAN_TRANSCEIVER_MAX_BITRATE(inst, 1000000), \
.custom = &can_sam_cfg_##inst, \
}
#endif /* CONFIG_CAN_FD_MODE */
#define CAN_SAM_CFG_INST(inst) \
static const struct can_sam_config can_sam_cfg_##inst = { \
.pmc_id = DT_INST_PROP(inst, peripheral_id), \
.pcfg = PINCTRL_DT_INST_DEV_CONFIG_GET(inst), \
.config_irq = config_can_##inst##_irq, \
.mcan_cfg = CAN_SAM_MCAN_CFG(inst) \
};
#define CAN_SAM_CFG_INST(inst) \
static const struct can_sam_config can_sam_cfg_##inst = { \
.pmc_id = DT_INST_PROP(inst, peripheral_id), \
.pcfg = PINCTRL_DT_INST_DEV_CONFIG_GET(inst), \
.config_irq = config_can_##inst##_irq, \
}; \
\
static const struct can_mcan_config can_mcan_cfg_##inst = \
CAN_SAM_MCAN_CFG(inst);
#define CAN_SAM_DATA_INST(inst) static struct can_sam_data can_sam_dev_data_##inst;
#define CAN_SAM_DATA_INST(inst) \
static struct can_sam_data can_sam_data_##inst; \
\
static struct can_mcan_data can_mcan_data_##inst = { \
.msg_ram = &can_sam_data_##inst.msg_ram, \
.custom = &can_sam_data_##inst, \
}; \
#define CAN_SAM_DEVICE_INST(inst) \
DEVICE_DT_INST_DEFINE(inst, &can_sam_init, NULL, &can_sam_dev_data_##inst, \
&can_sam_cfg_##inst, POST_KERNEL, CONFIG_CAN_INIT_PRIORITY, \
&can_api_funcs);
#define CAN_SAM_DEVICE_INST(inst) \
DEVICE_DT_INST_DEFINE(inst, &can_sam_init, NULL, \
&can_mcan_data_##inst, \
&can_mcan_cfg_##inst, \
POST_KERNEL, CONFIG_CAN_INIT_PRIORITY, \
&can_sam_driver_api);
#define CAN_SAM_INST(inst) \
PINCTRL_DT_INST_DEFINE(inst); \

287
drivers/can/can_stm32fd.c
View file

@ -1,18 +1,18 @@
/*
* Copyright (c) 2022 Vestas Wind Systems A/S
* Copyright (c) 2020 Alexander Wachter
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <drivers/can.h>
#include <drivers/can/transceiver.h>
#include <drivers/pinctrl.h>
#include <kernel.h>
#include <soc.h>
#include <stm32_ll_rcc.h>
#include <logging/log.h>
#include "can_stm32fd.h"
#include "can_mcan.h"
LOG_MODULE_REGISTER(can_stm32fd, CONFIG_CAN_LOG_LEVEL);
@ -38,11 +38,17 @@ LOG_MODULE_REGISTER(can_stm32fd, CONFIG_CAN_LOG_LEVEL);
#define DT_DRV_COMPAT st_stm32_fdcan
struct can_stm32fd_config {
void (*config_irq)(void);
const struct pinctrl_dev_config *pcfg;
};
static int can_stm32fd_get_core_clock(const struct device *dev, uint32_t *rate)
{
ARG_UNUSED(dev);
const uint32_t rate_tmp = LL_RCC_GetFDCANClockFreq(LL_RCC_FDCAN_CLKSOURCE);
ARG_UNUSED(dev);
if (rate_tmp == LL_RCC_PERIPH_FREQUENCY_NO) {
LOG_ERR("Can't read core clock");
return -EIO;
@ -61,159 +67,44 @@ static void can_stm32fd_clock_enable(void)
FDCAN_CONFIG->CKDIV = CAN_STM32FD_CLOCK_DIVISOR >> 1;
}
static void can_stm32fd_set_state_change_callback(const struct device *dev,
can_state_change_callback_t cb,
void *user_data)
{
struct can_stm32fd_data *data = dev->data;
data->mcan_data.state_change_cb = cb;
data->mcan_data.state_change_cb_data = user_data;
}
static int can_stm32fd_init(const struct device *dev)
{
const struct can_stm32fd_config *cfg = dev->config;
struct can_stm32fd_data *data = dev->data;
const struct can_mcan_config *mcan_cfg = &cfg->mcan_cfg;
struct can_mcan_data *mcan_data = &data->mcan_data;
struct can_mcan_msg_sram *msg_ram = cfg->msg_sram;
const struct can_mcan_config *mcan_cfg = dev->config;
const struct can_stm32fd_config *stm32fd_cfg = mcan_cfg->custom;
int ret;
/* Configure dt provided device signals when available */
ret = pinctrl_apply_state(cfg->pcfg, PINCTRL_STATE_DEFAULT);
ret = pinctrl_apply_state(stm32fd_cfg->pcfg, PINCTRL_STATE_DEFAULT);
if (ret < 0) {
LOG_ERR("CAN pinctrl setup failed (%d)", ret);
return ret;
}
can_stm32fd_clock_enable();
ret = can_mcan_init(dev, mcan_cfg, msg_ram, mcan_data);
if (ret) {
ret = can_mcan_init(dev);
if (ret != 0) {
return ret;
}
cfg->config_irq();
stm32fd_cfg->config_irq();
return ret;
}
static int can_stm32fd_get_state(const struct device *dev, enum can_state *state,
struct can_bus_err_cnt *err_cnt)
{
const struct can_stm32fd_config *cfg = dev->config;
const struct can_mcan_config *mcan_cfg = &cfg->mcan_cfg;
return can_mcan_get_state(mcan_cfg, state, err_cnt);
}
static int can_stm32fd_send(const struct device *dev, const struct zcan_frame *frame,
k_timeout_t timeout, can_tx_callback_t callback,
void *user_data)
{
const struct can_stm32fd_config *cfg = dev->config;
struct can_stm32fd_data *data = dev->data;
const struct can_mcan_config *mcan_cfg = &cfg->mcan_cfg;
struct can_mcan_data *mcan_data = &data->mcan_data;
struct can_mcan_msg_sram *msg_ram = cfg->msg_sram;
return can_mcan_send(mcan_cfg, mcan_data, msg_ram, frame, timeout,
callback, user_data);
}
static int can_stm32fd_add_rx_filter(const struct device *dev, can_rx_callback_t callback,
void *user_data, const struct zcan_filter *filter)
{
const struct can_stm32fd_config *cfg = dev->config;
struct can_stm32fd_data *data = dev->data;
struct can_mcan_data *mcan_data = &data->mcan_data;
struct can_mcan_msg_sram *msg_ram = cfg->msg_sram;
return can_mcan_add_rx_filter(mcan_data, msg_ram, callback, user_data, filter);
}
static void can_stm32fd_remove_rx_filter(const struct device *dev, int filter_id)
{
const struct can_stm32fd_config *cfg = dev->config;
struct can_stm32fd_data *data = dev->data;
struct can_mcan_data *mcan_data = &data->mcan_data;
struct can_mcan_msg_sram *msg_ram = cfg->msg_sram;
can_mcan_remove_rx_filter(mcan_data, msg_ram, filter_id);
}
static int can_stm32fd_set_mode(const struct device *dev, enum can_mode mode)
{
const struct can_stm32fd_config *cfg = dev->config;
const struct can_mcan_config *mcan_cfg = &cfg->mcan_cfg;
return can_mcan_set_mode(mcan_cfg, mode);
}
static int can_stm32fd_set_timing(const struct device *dev,
const struct can_timing *timing,
const struct can_timing *timing_data)
{
const struct can_stm32fd_config *cfg = dev->config;
const struct can_mcan_config *mcan_cfg = &cfg->mcan_cfg;
return can_mcan_set_timing(mcan_cfg, timing, timing_data);
}
static int can_stm32fd_get_max_bitrate(const struct device *dev, uint32_t *max_bitrate)
{
const struct can_stm32fd_config *cfg = dev->config;
*max_bitrate = cfg->mcan_cfg.max_bitrate;
return 0;
}
static const struct can_driver_api can_stm32fd_driver_api = {
.set_mode = can_mcan_set_mode,
.set_timing = can_mcan_set_timing,
.send = can_mcan_send,
.add_rx_filter = can_mcan_add_rx_filter,
.remove_rx_filter = can_mcan_remove_rx_filter,
.get_state = can_mcan_get_state,
#ifndef CONFIG_CAN_AUTO_BUS_OFF_RECOVERY
static int can_stm32fd_recover(const struct device *dev, k_timeout_t timeout)
{
const struct can_stm32fd_config *cfg = dev->config;
return can_mcan_recover(&cfg->mcan_cfg, timeout);
}
.recover = can_mcan_recover,
#endif /* CONFIG_CAN_AUTO_BUS_OFF_RECOVERY */
static void can_stm32fd_line_0_isr(const struct device *dev)
{
const struct can_stm32fd_config *cfg = dev->config;
const struct can_mcan_config *mcan_cfg = &cfg->mcan_cfg;
struct can_stm32fd_data *data = dev->data;
struct can_mcan_data *mcan_data = &data->mcan_data;
struct can_mcan_msg_sram *msg_ram = cfg->msg_sram;
can_mcan_line_0_isr(mcan_cfg, msg_ram, mcan_data);
}
static void can_stm32fd_line_1_isr(const struct device *dev)
{
const struct can_stm32fd_config *cfg = dev->config;
const struct can_mcan_config *mcan_cfg = &cfg->mcan_cfg;
struct can_stm32fd_data *data = dev->data;
struct can_mcan_data *mcan_data = &data->mcan_data;
struct can_mcan_msg_sram *msg_ram = cfg->msg_sram;
can_mcan_line_1_isr(mcan_cfg, msg_ram, mcan_data);
}
static const struct can_driver_api can_api_funcs = {
.set_mode = can_stm32fd_set_mode,
.set_timing = can_stm32fd_set_timing,
.send = can_stm32fd_send,
.add_rx_filter = can_stm32fd_add_rx_filter,
.remove_rx_filter = can_stm32fd_remove_rx_filter,
.get_state = can_stm32fd_get_state,
#ifndef CONFIG_CAN_AUTO_BUS_OFF_RECOVERY
.recover = can_stm32fd_recover,
#endif
.get_core_clock = can_stm32fd_get_core_clock,
.get_max_bitrate = can_stm32fd_get_max_bitrate,
.get_max_bitrate = can_mcan_get_max_bitrate,
.get_max_filters = can_mcan_get_max_filters,
.set_state_change_callback = can_stm32fd_set_state_change_callback,
.set_state_change_callback = can_mcan_set_state_change_callback,
.timing_min = {
.sjw = 0x01,
.prop_seg = 0x00,
@ -243,7 +134,7 @@ static const struct can_driver_api can_api_funcs = {
.phase_seg2 = 0x10,
.prescaler = 0x20
}
#endif
#endif /* CONFIG_CAN_FD_MODE */
};
#define CAN_STM32FD_IRQ_CFG_FUNCTION(inst) \
@ -252,85 +143,77 @@ static void config_can_##inst##_irq(void) \
LOG_DBG("Enable CAN" #inst " IRQ"); \
IRQ_CONNECT(DT_INST_IRQ_BY_NAME(inst, line_0, irq), \
DT_INST_IRQ_BY_NAME(inst, line_0, priority), \
can_stm32fd_line_0_isr, DEVICE_DT_INST_GET(inst), 0); \
can_mcan_line_0_isr, DEVICE_DT_INST_GET(inst), 0); \
irq_enable(DT_INST_IRQ_BY_NAME(inst, line_0, irq)); \
IRQ_CONNECT(DT_INST_IRQ_BY_NAME(inst, line_1, irq), \
DT_INST_IRQ_BY_NAME(inst, line_1, priority), \
can_stm32fd_line_1_isr, DEVICE_DT_INST_GET(inst), 0); \
can_mcan_line_1_isr, DEVICE_DT_INST_GET(inst), 0); \
irq_enable(DT_INST_IRQ_BY_NAME(inst, line_1, irq)); \
}
#ifdef CONFIG_CAN_FD_MODE
#define CAN_STM32FD_CFG_INST(inst) \
\
PINCTRL_DT_INST_DEFINE(inst); \
\
static const struct can_stm32fd_config can_stm32fd_cfg_##inst = { \
.msg_sram = (struct can_mcan_msg_sram *) \
DT_INST_REG_ADDR_BY_NAME(inst, message_ram), \
.config_irq = config_can_##inst##_irq, \
.mcan_cfg = { \
.can = (struct can_mcan_reg *) \
DT_INST_REG_ADDR_BY_NAME(inst, m_can), \
.bus_speed = DT_INST_PROP(inst, bus_speed), \
.sjw = DT_INST_PROP(inst, sjw), \
.sample_point = DT_INST_PROP_OR(inst, sample_point, 0), \
.prop_ts1 = DT_INST_PROP_OR(inst, prop_seg, 0) + \
DT_INST_PROP_OR(inst, phase_seg1, 0), \
.ts2 = DT_INST_PROP_OR(inst, phase_seg2, 0), \
.bus_speed_data = DT_INST_PROP(inst, bus_speed_data), \
.sjw_data = DT_INST_PROP(inst, sjw_data), \
.sample_point_data = \
DT_INST_PROP_OR(inst, sample_point_data, 0), \
.prop_ts1_data = DT_INST_PROP_OR(inst, prop_seg_data, 0) + \
DT_INST_PROP_OR(inst, phase_seg1_data, 0), \
.ts2_data = DT_INST_PROP_OR(inst, phase_seg2_data, 0), \
.tx_delay_comp_offset = \
DT_INST_PROP(inst, tx_delay_comp_offset), \
.phy = DEVICE_DT_GET_OR_NULL(DT_INST_PHANDLE(inst, phys)), \
.max_bitrate = \
DT_INST_CAN_TRANSCEIVER_MAX_BITRATE(inst, 5000000), \
}, \
.pcfg = PINCTRL_DT_INST_DEV_CONFIG_GET(inst), \
};
#define CAN_STM32FD_CFG_INST(inst) \
PINCTRL_DT_INST_DEFINE(inst); \
\
static const struct can_stm32fd_config can_stm32fd_cfg_##inst = { \
.config_irq = config_can_##inst##_irq, \
.pcfg = PINCTRL_DT_INST_DEV_CONFIG_GET(inst), \
}; \
\
static const struct can_mcan_config can_mcan_cfg_##inst = { \
.can = (struct can_mcan_reg *) DT_INST_REG_ADDR_BY_NAME(inst, m_can), \
.bus_speed = DT_INST_PROP(inst, bus_speed), \
.sjw = DT_INST_PROP(inst, sjw), \
.sample_point = DT_INST_PROP_OR(inst, sample_point, 0), \
.prop_ts1 = DT_INST_PROP_OR(inst, prop_seg, 0) + \
DT_INST_PROP_OR(inst, phase_seg1, 0), \
.ts2 = DT_INST_PROP_OR(inst, phase_seg2, 0), \
.bus_speed_data = DT_INST_PROP(inst, bus_speed_data), \
.sjw_data = DT_INST_PROP(inst, sjw_data), \
.sample_point_data = DT_INST_PROP_OR(inst, sample_point_data, 0), \
.prop_ts1_data = DT_INST_PROP_OR(inst, prop_seg_data, 0) + \
DT_INST_PROP_OR(inst, phase_seg1_data, 0), \
.ts2_data = DT_INST_PROP_OR(inst, phase_seg2_data, 0), \
.tx_delay_comp_offset = DT_INST_PROP(inst, tx_delay_comp_offset), \
.phy = DEVICE_DT_GET_OR_NULL(DT_INST_PHANDLE(inst, phys)), \
.max_bitrate = DT_INST_CAN_TRANSCEIVER_MAX_BITRATE(inst, 5000000), \
.custom = &can_stm32fd_cfg_##inst, \
};
#else /* CONFIG_CAN_FD_MODE */
#define CAN_STM32FD_CFG_INST(inst) \
\
PINCTRL_DT_INST_DEFINE(inst); \
\
static const struct can_stm32fd_config can_stm32fd_cfg_##inst = { \
.msg_sram = (struct can_mcan_msg_sram *) \
DT_INST_REG_ADDR_BY_NAME(inst, message_ram), \
.config_irq = config_can_##inst##_irq, \
.mcan_cfg = { \
.can = (struct can_mcan_reg *) \
DT_INST_REG_ADDR_BY_NAME(inst, m_can), \
.bus_speed = DT_INST_PROP(inst, bus_speed), \
.sjw = DT_INST_PROP(inst, sjw), \
.sample_point = DT_INST_PROP_OR(inst, sample_point, 0), \
.prop_ts1 = DT_INST_PROP_OR(inst, prop_seg, 0) + \
DT_INST_PROP_OR(inst, phase_seg1, 0), \
.ts2 = DT_INST_PROP_OR(inst, phase_seg2, 0), \
.phy = DEVICE_DT_GET_OR_NULL(DT_INST_PHANDLE(inst, phys)), \
.max_bitrate = \
DT_INST_CAN_TRANSCEIVER_MAX_BITRATE(inst, 1000000), \
}, \
.pcfg = PINCTRL_DT_INST_DEV_CONFIG_GET(inst), \
};
#define CAN_STM32FD_CFG_INST(inst) \
PINCTRL_DT_INST_DEFINE(inst); \
\
static const struct can_stm32fd_config can_stm32fd_cfg_##inst = { \
.config_irq = config_can_##inst##_irq, \
.pcfg = PINCTRL_DT_INST_DEV_CONFIG_GET(inst), \
}; \
\
static const struct can_mcan_config can_mcan_cfg_##inst = { \
.can = (struct can_mcan_reg *) DT_INST_REG_ADDR_BY_NAME(inst, m_can), \
.bus_speed = DT_INST_PROP(inst, bus_speed), \
.sjw = DT_INST_PROP(inst, sjw), \
.sample_point = DT_INST_PROP_OR(inst, sample_point, 0), \
.prop_ts1 = DT_INST_PROP_OR(inst, prop_seg, 0) + \
DT_INST_PROP_OR(inst, phase_seg1, 0), \
.ts2 = DT_INST_PROP_OR(inst, phase_seg2, 0), \
.phy = DEVICE_DT_GET_OR_NULL(DT_INST_PHANDLE(inst, phys)), \
.max_bitrate = DT_INST_CAN_TRANSCEIVER_MAX_BITRATE(inst, 1000000), \
.custom = &can_stm32fd_cfg_##inst, \
};
#endif /* CONFIG_CAN_FD_MODE */
#define CAN_STM32FD_DATA_INST(inst) \
static struct can_stm32fd_data can_stm32fd_dev_data_##inst;
#define CAN_STM32FD_DATA_INST(inst) \
static struct can_mcan_data can_mcan_dev_data_##inst = { \
.msg_ram = (struct can_mcan_msg_sram *) \
DT_INST_REG_ADDR_BY_NAME(inst, message_ram), \
};
#define CAN_STM32FD_DEVICE_INST(inst) \
DEVICE_DT_INST_DEFINE(inst, &can_stm32fd_init, NULL, \
&can_stm32fd_dev_data_##inst, &can_stm32fd_cfg_##inst, \
POST_KERNEL, CONFIG_CAN_INIT_PRIORITY, \
&can_api_funcs);
#define CAN_STM32FD_DEVICE_INST(inst) \
DEVICE_DT_INST_DEFINE(inst, &can_stm32fd_init, NULL, \
&can_mcan_dev_data_##inst, &can_mcan_cfg_##inst, \
POST_KERNEL, CONFIG_CAN_INIT_PRIORITY, \
&can_stm32fd_driver_api);
#define CAN_STM32FD_INST(inst) \
CAN_STM32FD_IRQ_CFG_FUNCTION(inst) \

24
drivers/can/can_stm32fd.h
View file

@ -1,24 +0,0 @@
/*
* Copyright (c) 2020 Alexander Wachter
*
* SPDX-License-Identifier: Apache-2.0
*
*/
#ifndef ZEPHYR_DRIVERS_CAN_STM32FD_H_
#define ZEPHYR_DRIVERS_CAN_STM32FD_H_
#include "can_mcan.h"
struct can_stm32fd_config {
struct can_mcan_msg_sram *msg_sram;
void (*config_irq)(void);
struct can_mcan_config mcan_cfg;
const struct pinctrl_dev_config *pcfg;
};
struct can_stm32fd_data {
struct can_mcan_data mcan_data;
};
#endif /*ZEPHYR_DRIVERS_CAN_STM32FD_H_*/

174
drivers/can/can_stm32h7.c
View file

@ -1,11 +1,11 @@
/*
* Copyright (c) 2022 Vestas Wind Systems A/S
* Copyright (c) 2022 Blue Clover
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <drivers/can.h>
#include <drivers/can/transceiver.h>
#include <drivers/clock_control/stm32_clock_control.h>
#include <drivers/clock_control.h>
#include <drivers/pinctrl.h>
@ -20,23 +20,17 @@ LOG_MODULE_REGISTER(can_stm32h7, CONFIG_CAN_LOG_LEVEL);
#define DT_DRV_COMPAT st_stm32h7_fdcan
struct can_stm32h7_config {
struct can_mcan_msg_sram *msg_sram;
void (*config_irq)(void);
struct can_mcan_config mcan_cfg;
const struct pinctrl_dev_config *pcfg;
struct stm32_pclken pclken;
};
struct can_stm32h7_data {
struct can_mcan_data mcan_data;
};
static int can_stm32h7_get_core_clock(const struct device *dev, uint32_t *rate)
{
ARG_UNUSED(dev);
const uint32_t rate_tmp = LL_RCC_GetFDCANClockFreq(LL_RCC_FDCAN_CLKSOURCE);
ARG_UNUSED(dev);
if (rate_tmp == LL_RCC_PERIPH_FREQUENCY_NO) {
LOG_ERR("Can't read core clock");
return -EIO;
@ -51,13 +45,14 @@ static int can_stm32h7_get_core_clock(const struct device *dev, uint32_t *rate)
static int can_stm32h7_clock_enable(const struct device *dev)
{
int ret;
const struct can_stm32h7_config *cfg = dev->config;
const struct can_mcan_config *mcan_cfg = dev->config;
const struct can_stm32h7_config *stm32h7_cfg = mcan_cfg->custom;
const struct device *clk = DEVICE_DT_GET(STM32_CLOCK_CONTROL_NODE);
int ret;
LL_RCC_SetFDCANClockSource(LL_RCC_FDCAN_CLKSOURCE_PLL1Q);
ret = clock_control_on(clk, (clock_control_subsys_t *)&cfg->pclken);
ret = clock_control_on(clk, (clock_control_subsys_t *)&stm32h7_cfg->pclken);
if (ret != 0) {
LOG_ERR("failure enabling clock");
return ret;
@ -71,24 +66,14 @@ static int can_stm32h7_clock_enable(const struct device *dev)
return 0;
}
static void can_stm32h7_set_state_change_cb(const struct device *dev,
can_state_change_callback_t cb,
void *user_data)
{
struct can_stm32h7_data *data = dev->data;
data->mcan_data.state_change_cb = cb;
data->mcan_data.state_change_cb_data = user_data;
}
static int can_stm32h7_init(const struct device *dev)
{
const struct can_stm32h7_config *cfg = dev->config;
struct can_stm32h7_data *data = dev->data;
const struct can_mcan_config *mcan_cfg = dev->config;
const struct can_stm32h7_config *stm32h7_cfg = mcan_cfg->custom;
int ret;
/* Configure dt provided device signals when available */
ret = pinctrl_apply_state(cfg->pcfg, PINCTRL_STATE_DEFAULT);
ret = pinctrl_apply_state(stm32h7_cfg->pcfg, PINCTRL_STATE_DEFAULT);
if (ret != 0) {
LOG_ERR("CAN pinctrl setup failed (%d)", ret);
return ret;
@ -99,122 +84,30 @@ static int can_stm32h7_init(const struct device *dev)
return ret;
}
ret = can_mcan_init(dev, &cfg->mcan_cfg, cfg->msg_sram,
&data->mcan_data);
ret = can_mcan_init(dev);
if (ret != 0) {
return ret;
}
cfg->config_irq();
return 0;
}
static int can_stm32h7_get_state(const struct device *dev, enum can_state *state,
struct can_bus_err_cnt *err_cnt)
{
const struct can_stm32h7_config *cfg = dev->config;
return can_mcan_get_state(&cfg->mcan_cfg, state, err_cnt);
}
static int can_stm32h7_send(const struct device *dev,
const struct zcan_frame *frame,
k_timeout_t timeout, can_tx_callback_t callback,
void *user_data)
{
const struct can_stm32h7_config *cfg = dev->config;
struct can_stm32h7_data *data = dev->data;
return can_mcan_send(&cfg->mcan_cfg, &data->mcan_data, cfg->msg_sram,
frame, timeout, callback, user_data);
}
static int can_stm32h7_add_rx_filter(const struct device *dev,
can_rx_callback_t callback,
void *user_data,
const struct zcan_filter *filter)
{
const struct can_stm32h7_config *cfg = dev->config;
struct can_stm32h7_data *data = dev->data;
return can_mcan_add_rx_filter(&data->mcan_data, cfg->msg_sram,
callback, user_data, filter);
}
static void can_stm32h7_remove_rx_filter(const struct device *dev,
int filter_id)
{
const struct can_stm32h7_config *cfg = dev->config;
struct can_stm32h7_data *data = dev->data;
can_mcan_remove_rx_filter(&data->mcan_data, cfg->msg_sram, filter_id);
}
static int can_stm32h7_set_mode(const struct device *dev, enum can_mode mode)
{
const struct can_stm32h7_config *cfg = dev->config;
return can_mcan_set_mode(&cfg->mcan_cfg, mode);
}
static int can_stm32h7_set_timing(const struct device *dev,
const struct can_timing *timing,
const struct can_timing *timing_data)
{
const struct can_stm32h7_config *cfg = dev->config;
return can_mcan_set_timing(&cfg->mcan_cfg, timing, timing_data);
}
static int can_stm32h7_get_max_bitrate(const struct device *dev, uint32_t *max_bitrate)
{
const struct can_stm32h7_config *cfg = dev->config;
*max_bitrate = cfg->mcan_cfg.max_bitrate;
stm32h7_cfg->config_irq();
return 0;
}
static const struct can_driver_api can_stm32h7_driver_api = {
.set_mode = can_mcan_set_mode,
.set_timing = can_mcan_set_timing,
.send = can_mcan_send,
.add_rx_filter = can_mcan_add_rx_filter,
.remove_rx_filter = can_mcan_remove_rx_filter,
.get_state = can_mcan_get_state,
#ifndef CONFIG_CAN_AUTO_BUS_OFF_RECOVERY
static int can_stm32h7_recover(const struct device *dev, k_timeout_t timeout)
{
const struct can_stm32h7_config *cfg = dev->config;
return can_mcan_recover(&cfg->mcan_cfg, timeout);
}
#endif /* CONFIG_CAN_AUTO_BUS_OFF_RECOVERY */
static void can_stm32h7_line_0_isr(const struct device *dev)
{
const struct can_stm32h7_config *cfg = dev->config;
struct can_stm32h7_data *data = dev->data;
can_mcan_line_0_isr(&cfg->mcan_cfg, cfg->msg_sram, &data->mcan_data);
}
static void can_stm32h7_line_1_isr(const struct device *dev)
{
const struct can_stm32h7_config *cfg = dev->config;
struct can_stm32h7_data *data = dev->data;
can_mcan_line_1_isr(&cfg->mcan_cfg, cfg->msg_sram, &data->mcan_data);
}
static const struct can_driver_api can_api_funcs = {
.set_mode = can_stm32h7_set_mode,
.set_timing = can_stm32h7_set_timing,
.send = can_stm32h7_send,
.add_rx_filter = can_stm32h7_add_rx_filter,
.remove_rx_filter = can_stm32h7_remove_rx_filter,
.get_state = can_stm32h7_get_state,
#ifndef CONFIG_CAN_AUTO_BUS_OFF_RECOVERY
.recover = can_stm32h7_recover,
.recover = can_mcan_recover,
#endif
.get_core_clock = can_stm32h7_get_core_clock,
.get_max_bitrate = can_stm32h7_get_max_bitrate,
.get_max_bitrate = can_mcan_get_max_bitrate,
.get_max_filters = can_mcan_get_max_filters,
.set_state_change_callback = can_stm32h7_set_state_change_cb,
.set_state_change_callback = can_mcan_set_state_change_callback,
/* Timing limits are per the STM32H7 Reference Manual (RM0433 Rev 7),
* section 56.5.7, FDCAN nominal bit timing and prescaler register
* (FDCAN_NBTP).
@ -276,6 +169,7 @@ static const struct can_driver_api can_api_funcs = {
DT_INST_PROP(n, tx_delay_comp_offset), \
.phy = DEVICE_DT_GET_OR_NULL(DT_INST_PHANDLE(n, phys)), \
.max_bitrate = DT_INST_CAN_TRANSCEIVER_MAX_BITRATE(n, 5000000), \
.custom = &can_stm32h7_cfg_##n, \
}
#else /* CONFIG_CAN_FD_MODE */
#define CAN_STM32H7_MCAN_MCAN_INIT(n) \
@ -289,6 +183,7 @@ static const struct can_driver_api can_api_funcs = {
.ts2 = DT_INST_PROP_OR(n, phase_seg2, 0), \
.phy = DEVICE_DT_GET_OR_NULL(DT_INST_PHANDLE(n, phys)), \
.max_bitrate = DT_INST_CAN_TRANSCEIVER_MAX_BITRATE(n, 1000000), \
.custom = &can_stm32h7_cfg_##n, \
}
#endif /* !CONFIG_CAN_FD_MODE */
@ -298,10 +193,7 @@ static const struct can_driver_api can_api_funcs = {
PINCTRL_DT_INST_DEFINE(n); \
\
static const struct can_stm32h7_config can_stm32h7_cfg_##n = { \
.msg_sram = (struct can_mcan_msg_sram *) \
DT_INST_REG_ADDR_BY_NAME(n, message_ram), \
.config_irq = stm32h7_mcan_irq_config_##n, \
.mcan_cfg = CAN_STM32H7_MCAN_MCAN_INIT(n), \
.pcfg = PINCTRL_DT_INST_DEV_CONFIG_GET(n), \
.pclken = { \
.enr = DT_INST_CLOCKS_CELL(n, bits), \
@ -309,24 +201,30 @@ static const struct can_driver_api can_api_funcs = {
}, \
}; \
\
static struct can_stm32h7_data can_stm32h7_dev_data_##n; \
static const struct can_mcan_config can_mcan_cfg_##n = \
CAN_STM32H7_MCAN_MCAN_INIT(n); \
\
static struct can_mcan_data can_mcan_data_##n = { \
.msg_ram = (struct can_mcan_msg_sram *) \
DT_INST_REG_ADDR_BY_NAME(n, message_ram), \
}; \
\
DEVICE_DT_INST_DEFINE(n, &can_stm32h7_init, NULL, \
&can_stm32h7_dev_data_##n, \
&can_stm32h7_cfg_##n, \
&can_mcan_data_##n, \
&can_mcan_cfg_##n, \
POST_KERNEL, CONFIG_CAN_INIT_PRIORITY, \
&can_api_funcs); \
&can_stm32h7_driver_api); \
\
static void stm32h7_mcan_irq_config_##n(void) \
{ \
LOG_DBG("Enable CAN inst" #n " IRQ"); \
IRQ_CONNECT(DT_INST_IRQ_BY_NAME(n, line_0, irq), \
DT_INST_IRQ_BY_NAME(n, line_0, priority), \
can_stm32h7_line_0_isr, DEVICE_DT_INST_GET(n), 0); \
can_mcan_line_0_isr, DEVICE_DT_INST_GET(n), 0); \
irq_enable(DT_INST_IRQ_BY_NAME(n, line_0, irq)); \
IRQ_CONNECT(DT_INST_IRQ_BY_NAME(n, line_1, irq), \
DT_INST_IRQ_BY_NAME(n, line_1, priority), \
can_stm32h7_line_1_isr, DEVICE_DT_INST_GET(n), 0); \
can_mcan_line_1_isr, DEVICE_DT_INST_GET(n), 0); \
irq_enable(DT_INST_IRQ_BY_NAME(n, line_1, irq)); \
}