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drivers: can: add CAN_MODE_FD

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Add support for enabling/disabling CAN-FD frame transmission/reception at
run-time.

Fixes: #45303

Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
This commit is contained in:
Henrik Brix Andersen 2022-05-05 13:46:43 +02:00 • committed by Carles Cufí
commit 9bd97eb0b8
3 changed files with 21 additions and 8 deletions
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24
drivers/can/can_mcan.c
View file

@ -246,10 +246,17 @@ int can_mcan_set_mode(const struct device *dev, can_mode_t mode)
struct can_mcan_reg *can = cfg->can; struct can_mcan_reg *can = cfg->can;
int ret; int ret;
#ifdef CONFIG_CAN_FD_MODE
if ((mode & ~(CAN_MODE_LOOPBACK | CAN_MODE_LISTENONLY | CAN_MODE_FD)) != 0) {
LOG_ERR("unsupported mode: 0x%08x", mode);
return -ENOTSUP;
}
#else
if ((mode & ~(CAN_MODE_LOOPBACK | CAN_MODE_LISTENONLY)) != 0) { if ((mode & ~(CAN_MODE_LOOPBACK | CAN_MODE_LISTENONLY)) != 0) {
LOG_ERR("unsupported mode: 0x%08x", mode); LOG_ERR("unsupported mode: 0x%08x", mode);
return -ENOTSUP; return -ENOTSUP;
} }
#endif /* CONFIG_CAN_FD_MODE */
if (cfg->phy != NULL) { if (cfg->phy != NULL) {
ret = can_transceiver_enable(cfg->phy); ret = can_transceiver_enable(cfg->phy);
@ -289,6 +296,14 @@ int can_mcan_set_mode(const struct device *dev, can_mode_t mode)
can->cccr &= ~CAN_MCAN_CCCR_MON; can->cccr &= ~CAN_MCAN_CCCR_MON;
} }
#ifdef CONFIG_CAN_FD_MODE
if ((mode & CAN_MODE_FD) != 0) {
can->cccr |= CAN_MCAN_CCCR_FDOE | CAN_MCAN_CCCR_BRSE;
} else {
can->cccr &= ~(CAN_MCAN_CCCR_FDOE | CAN_MCAN_CCCR_BRSE);
}
#endif /* CONFIG_CAN_FD_MODE */
ret = can_leave_init_mode(can, K_MSEC(CAN_INIT_TIMEOUT)); ret = can_leave_init_mode(can, K_MSEC(CAN_INIT_TIMEOUT));
if (ret) { if (ret) {
LOG_ERR("Failed to leave init mode"); LOG_ERR("Failed to leave init mode");
@ -407,13 +422,8 @@ int can_mcan_init(const struct device *dev)
/ 16 + 5) << CAN_MCAN_RXESC_RBDS_POS); / 16 + 5) << CAN_MCAN_RXESC_RBDS_POS);
} }
#endif #endif
can->cccr &= ~(CAN_MCAN_CCCR_FDOE | CAN_MCAN_CCCR_BRSE |
#ifdef CONFIG_CAN_FD_MODE CAN_MCAN_CCCR_TEST | CAN_MCAN_CCCR_MON |
can->cccr |= CAN_MCAN_CCCR_FDOE | CAN_MCAN_CCCR_BRSE;
#else
can->cccr &= ~(CAN_MCAN_CCCR_FDOE | CAN_MCAN_CCCR_BRSE);
#endif
can->cccr &= ~(CAN_MCAN_CCCR_TEST | CAN_MCAN_CCCR_MON |
CAN_MCAN_CCCR_ASM); CAN_MCAN_CCCR_ASM);
can->test &= ~(CAN_MCAN_TEST_LBCK); can->test &= ~(CAN_MCAN_TEST_LBCK);

3
include/zephyr/drivers/can.h
View file

@ -94,6 +94,9 @@ extern "C" {
/** Controller is not allowed to send dominant bits. */ /** Controller is not allowed to send dominant bits. */
#define CAN_MODE_LISTENONLY BIT(1) #define CAN_MODE_LISTENONLY BIT(1)
/** Controller allows transmitting/receiving CAN-FD frames. */
#define CAN_MODE_FD BIT(2)
/** @} */ /** @} */
/** /**

2
tests/drivers/can/canfd/src/main.c
View file

@ -349,7 +349,7 @@ static void test_set_loopback(void)
{ {
int err; int err;
err = can_set_mode(can_dev, CAN_MODE_LOOPBACK); err = can_set_mode(can_dev, CAN_MODE_LOOPBACK | CAN_MODE_FD);
zassert_equal(err, 0, "failed to set loopback-mode (err %d)", err); zassert_equal(err, 0, "failed to set loopback-mode (err %d)", err);
} }