drivers: can: mcan: refactor to get rid of wrapper functions
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
Carles Cufí
parent
7ea0951052
commit
5b3712a9ac
7 changed files with 300 additions and 703 deletions
|
|
@ -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)); \
|
||||
}
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue