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drivers: can: rcar: add transceiver support

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Add support for CAN transceivers to the Renesas R-Car CAN driver.

Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
This commit is contained in:
Henrik Brix Andersen 2022-03-01 14:26:02 +01:00 • committed by Maureen Helm
commit 63358621bd
1 changed files with 38 additions and 0 deletions
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38
drivers/can/can_rcar.c
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@ -9,6 +9,7 @@
#include <kernel.h>
#include <errno.h>
#include <drivers/can.h>
#include <drivers/can/transceiver.h>
#include <drivers/clock_control.h>
#include <drivers/clock_control/rcar_clock_control.h>
#include <drivers/pinctrl.h>
@ -181,6 +182,8 @@ struct can_rcar_cfg {
uint8_t phase_seg2;
uint16_t sample_point;
const struct pinctrl_dev_config *pcfg;
const struct device *phy;
uint32_t max_bitrate;
};
struct can_rcar_tx_cb {
@ -588,6 +591,15 @@ int can_rcar_set_mode(const struct device *dev, enum can_mode mode)
goto unlock;
}
/* Enable CAN transceiver */
if (config->phy != NULL) {
ret = can_transceiver_enable(config->phy);
if (ret != 0) {
LOG_ERR("failed to enable CAN transceiver (err %d)", ret);
goto unlock;
}
}
/* Writing to TCR registers must be done in halt mode */
ret = can_rcar_enter_halt_mode(config);
if (ret) {
@ -599,6 +611,13 @@ int can_rcar_set_mode(const struct device *dev, enum can_mode mode)
ret = can_rcar_enter_operation_mode(config);
unlock:
if (ret != 0) {
if (config->phy != NULL) {
/* Attempt to disable the CAN transceiver in case of error */
(void)can_transceiver_disable(config->phy);
}
}
k_mutex_unlock(&data->inst_mutex);
return ret;
}
@ -870,6 +889,13 @@ static int can_rcar_init(const struct device *dev)
data->state_change_cb = NULL;
data->state_change_cb_data = NULL;
if (config->phy != NULL) {
if (!device_is_ready(config->phy)) {
LOG_ERR("CAN transceiver not ready");
return -ENODEV;
}
}
/* Configure dt provided device signals when available */
ret = pinctrl_apply_state(config->pcfg, PINCTRL_STATE_DEFAULT);
if (ret < 0) {
@ -1001,6 +1027,15 @@ int can_rcar_get_max_filters(const struct device *dev, enum can_ide id_type)
return CONFIG_CAN_RCAR_MAX_FILTER;
}
int can_rcar_get_max_bitrate(const struct device *dev, uint32_t *max_bitrate)
{
const struct can_rcar_cfg *config = dev->config;
*max_bitrate = config->max_bitrate;
return 0;
}
static const struct can_driver_api can_rcar_driver_api = {
.set_mode = can_rcar_set_mode,
.set_timing = can_rcar_set_timing,
@ -1014,6 +1049,7 @@ static const struct can_driver_api can_rcar_driver_api = {
.set_state_change_callback = can_rcar_set_state_change_callback,
.get_core_clock = can_rcar_get_core_clock,
.get_max_filters = can_rcar_get_max_filters,
.get_max_bitrate = can_rcar_get_max_bitrate,
.timing_min = {
.sjw = 0x1,
.prop_seg = 0x00,
@ -1055,6 +1091,8 @@ static const struct can_driver_api can_rcar_driver_api = {
.phase_seg2 = DT_INST_PROP_OR(n, phase_seg2, 0), \
.sample_point = DT_INST_PROP_OR(n, sample_point, 0), \
.pcfg = PINCTRL_DT_INST_DEV_CONFIG_GET(n), \
.phy = DEVICE_DT_GET_OR_NULL(DT_INST_PHANDLE(n, phys)), \
.max_bitrate = DT_INST_CAN_TRANSCEIVER_MAX_BITRATE(n, 1000000), \
}; \
static struct can_rcar_data can_rcar_data_##n; \
\