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drivers: can: support for Nuvoton numaker series

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Add Nuvoton numaker series can-fd controller based on mcan.

Signed-off-by: cyliang tw <cyliang@nuvoton.com>
This commit is contained in:
cyliang tw 2023-10-24 19:01:32 +08:00 • committed by Maureen Helm
commit b59810650d
8 changed files with 416 additions and 0 deletions
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8
boards/arm/numaker_pfm_m467/numaker_pfm_m467-pinctrl.dtsi
View file

@ -24,4 +24,12 @@
<PC9MFP_GPIO>;
};
};
/* CAN TX/RX --> PJ10/PJ11 */
canfd0_default: canfd0_default {
group0 {
pinmux = <PJ10MFP_CAN0_TXD>,
<PJ11MFP_CAN0_RXD>;
};
};
};

9
boards/arm/numaker_pfm_m467/numaker_pfm_m467.dts
View file

@ -29,6 +29,7 @@
zephyr,sram = &sram0;
zephyr,flash = &flash0;
zephyr,code-partition = &slot0_partition;
zephyr,canbus = &canfd0;
};
@ -108,3 +109,11 @@
pinctrl-names = "default";
status = "okay";
};
&canfd0 {
bus-speed = <125000>;
bus-speed-data = <1000000>;
pinctrl-0 = <&canfd0_default>;
pinctrl-names = "default";
status = "okay";
};

1
drivers/can/CMakeLists.txt
View file

@ -19,6 +19,7 @@ zephyr_library_sources_ifdef(CONFIG_CAN_STM32_FDCAN can_stm32_fdcan.c)
zephyr_library_sources_ifdef(CONFIG_CAN_STM32H7_FDCAN can_stm32h7_fdcan.c)
zephyr_library_sources_ifdef(CONFIG_CAN_TCAN4X5X can_tcan4x5x.c)
zephyr_library_sources_ifdef(CONFIG_CAN_RCAR can_rcar.c)
zephyr_library_sources_ifdef(CONFIG_CAN_NUMAKER can_numaker.c)
if(CONFIG_CAN_NATIVE_POSIX_LINUX)
if(${CMAKE_HOST_SYSTEM_NAME} STREQUAL Linux)

1
drivers/can/Kconfig
View file

@ -92,6 +92,7 @@ source "drivers/can/Kconfig.mcux"
source "drivers/can/Kconfig.mcp2515"
source "drivers/can/Kconfig.mcan"
source "drivers/can/Kconfig.rcar"
source "drivers/can/Kconfig.numaker"
source "drivers/can/Kconfig.loopback"
source "drivers/can/Kconfig.native_posix_linux"
source "drivers/can/Kconfig.sja1000"

13
drivers/can/Kconfig.numaker Normal file
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@ -0,0 +1,13 @@
# NuMaker CAN(-FD) driver configuration options
# Copyright (c) 2023 Nuvoton Technology Corporation
# SPDX-License-Identifier: Apache-2.0
config CAN_NUMAKER
bool "Nuvoton NuMaker CAN-FD driver"
default y
select CAN_MCAN
depends on DT_HAS_NUVOTON_NUMAKER_CANFD_ENABLED
depends on SOC_SERIES_M46X
help
Enables Nuvoton NuMaker CAN-FD driver, using Bosch M_CAN

299
drivers/can/can_numaker.c Normal file
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@ -0,0 +1,299 @@
/*
* Copyright (c) 2023 Nuvoton Technology Corporation.
*
* SPDX-License-Identifier: Apache-2.0
*/
#define DT_DRV_COMPAT nuvoton_numaker_canfd
#include <zephyr/drivers/reset.h>
#include <zephyr/drivers/pinctrl.h>
#include <zephyr/drivers/can.h>
#include <zephyr/drivers/can/can_mcan.h>
#include <zephyr/drivers/clock_control.h>
#include <zephyr/drivers/clock_control/clock_control_numaker.h>
#include <zephyr/logging/log.h>
#include <soc.h>
#include <NuMicro.h>
LOG_MODULE_REGISTER(can_numaker, CONFIG_CAN_LOG_LEVEL);
/* CANFD Clock Source Selection */
#define NUMAKER_CANFD_CLKSEL_HXT 0
#define NUMAKER_CANFD_CLKSEL_PLL_DIV2 1
#define NUMAKER_CANFD_CLKSEL_HCLK 2
#define NUMAKER_CANFD_CLKSEL_HIRC 3
/* Implementation notes
* 1. Use Bosch M_CAN driver (m_can) as backend
* 2. Need to modify can_numaker_get_core_clock() for new SOC support
*/
struct can_numaker_config {
mm_reg_t canfd_base;
mem_addr_t mrba;
mem_addr_t mram;
const struct reset_dt_spec reset;
uint32_t clk_modidx;
uint32_t clk_src;
uint32_t clk_div;
const struct device *clk_dev;
void (*irq_config_func)(const struct device *dev);
const struct pinctrl_dev_config *pincfg;
};
static int can_numaker_get_core_clock(const struct device *dev, uint32_t *rate)
{
const struct can_mcan_config *mcan_config = dev->config;
const struct can_numaker_config *config = mcan_config->custom;
uint32_t clksrc_rate_idx;
uint32_t clkdiv_divider;
/* Module clock source rate */
clksrc_rate_idx = CLK_GetModuleClockSource(config->clk_modidx);
/* Module clock divider */
clkdiv_divider = CLK_GetModuleClockDivider(config->clk_modidx) + 1;
switch (clksrc_rate_idx) {
case NUMAKER_CANFD_CLKSEL_HXT:
*rate = __HXT / clkdiv_divider;
break;
case NUMAKER_CANFD_CLKSEL_PLL_DIV2:
*rate = (CLK_GetPLLClockFreq() / 2) / clkdiv_divider;
break;
case NUMAKER_CANFD_CLKSEL_HCLK:
*rate = CLK_GetHCLKFreq() / clkdiv_divider;
break;
case NUMAKER_CANFD_CLKSEL_HIRC:
*rate = __HIRC / clkdiv_divider;
break;
default:
LOG_ERR("Invalid clock source rate index");
return -EIO;
}
LOG_DBG("Clock rate index/divider: %d/%d", clksrc_rate_idx, clkdiv_divider);
return 0;
}
static inline int can_numaker_init_unlocked(const struct device *dev)
{
const struct can_mcan_config *mcan_config = dev->config;
const struct can_numaker_config *config = mcan_config->custom;
struct numaker_scc_subsys scc_subsys;
int rc;
memset(&scc_subsys, 0x00, sizeof(scc_subsys));
scc_subsys.subsys_id = NUMAKER_SCC_SUBSYS_ID_PCC;
scc_subsys.pcc.clk_modidx = config->clk_modidx;
scc_subsys.pcc.clk_src = config->clk_src;
scc_subsys.pcc.clk_div = config->clk_div;
/* To enable clock */
rc = clock_control_on(config->clk_dev, (clock_control_subsys_t) &scc_subsys);
if (rc < 0) {
return rc;
}
/* To set module clock */
rc = clock_control_configure(config->clk_dev, (clock_control_subsys_t)&scc_subsys, NULL);
if (rc < 0) {
return rc;
}
/* Configure pinmux (NuMaker's SYS MFP) */
rc = pinctrl_apply_state(config->pincfg, PINCTRL_STATE_DEFAULT);
if (rc < 0) {
return rc;
}
/* Reset CAN to default state, same as BSP's SYS_ResetModule(id_rst) */
reset_line_toggle_dt(&config->reset);
config->irq_config_func(dev);
rc = can_mcan_configure_mram(dev, config->mrba, config->mram);
if (rc != 0) {
return rc;
}
rc = can_mcan_init(dev);
if (rc < 0) {
LOG_ERR("Failed to initialize mcan: %d", rc);
return rc;
}
#if CONFIG_CAN_LOG_LEVEL >= LOG_LEVEL_DBG
uint32_t rate;
rc = can_numaker_get_core_clock(dev, &rate);
if (rc < 0) {
return rc;
}
LOG_DBG("CAN core clock: %d", rate);
#endif
return rc;
}
static int can_numaker_init(const struct device *dev)
{
const struct can_mcan_config *mcan_config = dev->config;
const struct can_numaker_config *config = mcan_config->custom;
int rc;
if (!device_is_ready(config->reset.dev)) {
LOG_ERR("reset controller not ready");
return -ENODEV;
}
if (!device_is_ready(config->clk_dev)) {
LOG_ERR("clock controller not ready");
return -ENODEV;
}
SYS_UnlockReg();
rc = can_numaker_init_unlocked(dev);
SYS_LockReg();
return rc;
}
static const struct can_driver_api can_numaker_driver_api = {
.get_capabilities = can_mcan_get_capabilities,
.start = can_mcan_start,
.stop = can_mcan_stop,
.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 = can_mcan_recover,
#endif /* CONFIG_CAN_AUTO_BUS_OFF_RECOVERY */
.get_state = can_mcan_get_state,
.set_state_change_callback = can_mcan_set_state_change_callback,
.get_core_clock = can_numaker_get_core_clock,
.get_max_filters = can_mcan_get_max_filters,
.get_max_bitrate = can_mcan_get_max_bitrate,
.timing_min = CAN_MCAN_TIMING_MIN_INITIALIZER,
.timing_max = CAN_MCAN_TIMING_MAX_INITIALIZER,
#ifdef CONFIG_CAN_FD_MODE
.set_timing_data = can_mcan_set_timing_data,
.timing_data_min = CAN_MCAN_TIMING_DATA_MIN_INITIALIZER,
.timing_data_max = CAN_MCAN_TIMING_DATA_MAX_INITIALIZER,
#endif /* CONFIG_CAN_FD_MODE */
};
static int can_numaker_read_reg(const struct device *dev, uint16_t reg, uint32_t *val)
{
const struct can_mcan_config *mcan_cfg = dev->config;
const struct can_numaker_config *numaker_cfg = mcan_cfg->custom;
return can_mcan_sys_read_reg(numaker_cfg->canfd_base, reg, val);
}
static int can_numaker_write_reg(const struct device *dev, uint16_t reg, uint32_t val)
{
const struct can_mcan_config *mcan_cfg = dev->config;
const struct can_numaker_config *numaker_cfg = mcan_cfg->custom;
return can_mcan_sys_write_reg(numaker_cfg->canfd_base, reg, val);
}
static int can_numaker_read_mram(const struct device *dev, uint16_t offset, void *dst, size_t len)
{
const struct can_mcan_config *mcan_cfg = dev->config;
const struct can_numaker_config *numaker_cfg = mcan_cfg->custom;
return can_mcan_sys_read_mram(numaker_cfg->mram, offset, dst, len);
}
static int can_numaker_write_mram(const struct device *dev, uint16_t offset, const void *src,
size_t len)
{
const struct can_mcan_config *mcan_cfg = dev->config;
const struct can_numaker_config *numaker_cfg = mcan_cfg->custom;
return can_mcan_sys_write_mram(numaker_cfg->mram, offset, src, len);
}
static int can_numaker_clear_mram(const struct device *dev, uint16_t offset, size_t len)
{
const struct can_mcan_config *mcan_cfg = dev->config;
const struct can_numaker_config *numaker_cfg = mcan_cfg->custom;
return can_mcan_sys_clear_mram(numaker_cfg->mram, offset, len);
}
static const struct can_mcan_ops can_numaker_ops = {
.read_reg = can_numaker_read_reg,
.write_reg = can_numaker_write_reg,
.read_mram = can_numaker_read_mram,
.write_mram = can_numaker_write_mram,
.clear_mram = can_numaker_clear_mram,
};
#define NUMAKER_CLKCTRL_DEV_INIT(inst) \
.clk_dev = DEVICE_DT_GET(DT_PARENT(DT_INST_CLOCKS_CTLR(inst))),
#define NUMAKER_PINCTRL_DEFINE(inst) \
PINCTRL_DT_INST_DEFINE(inst);
#define NUMAKER_PINCTRL_INIT(inst) \
.pincfg = PINCTRL_DT_INST_DEV_CONFIG_GET(inst),
#define CAN_NUMAKER_INIT(inst) \
NUMAKER_PINCTRL_DEFINE(inst); \
CAN_MCAN_DT_INST_CALLBACKS_DEFINE(inst, can_numaker_cbs_##inst); \
\
static void can_numaker_irq_config_func_##inst(const struct device *dev) \
{ \
IRQ_CONNECT(DT_INST_IRQ_BY_IDX(inst, 0, irq), \
DT_INST_IRQ_BY_IDX(inst, 0, priority), \
can_mcan_line_0_isr, \
DEVICE_DT_INST_GET(inst), \
0); \
irq_enable(DT_INST_IRQ_BY_IDX(inst, 0, irq)); \
IRQ_CONNECT(DT_INST_IRQ_BY_IDX(inst, 1, irq), \
DT_INST_IRQ_BY_IDX(inst, 1, priority), \
can_mcan_line_1_isr, \
DEVICE_DT_INST_GET(inst), \
0); \
irq_enable(DT_INST_IRQ_BY_IDX(inst, 1, irq)); \
} \
\
static const struct can_numaker_config can_numaker_config_##inst = { \
.canfd_base = CAN_MCAN_DT_INST_MCAN_ADDR(inst), \
.mrba = CAN_MCAN_DT_INST_MRBA(inst), \
.mram = CAN_MCAN_DT_INST_MRAM_ADDR(inst), \
.reset = RESET_DT_SPEC_INST_GET(inst), \
.clk_modidx = DT_INST_CLOCKS_CELL(inst, clock_module_index), \
.clk_src = DT_INST_CLOCKS_CELL(inst, clock_source), \
.clk_div = DT_INST_CLOCKS_CELL(inst, clock_divider), \
NUMAKER_CLKCTRL_DEV_INIT(inst) \
.irq_config_func = can_numaker_irq_config_func_##inst, \
NUMAKER_PINCTRL_INIT(inst) \
}; \
\
static const struct can_mcan_config can_mcan_config_##inst = \
CAN_MCAN_DT_CONFIG_INST_GET(inst, \
&can_numaker_config_##inst, \
&can_numaker_ops, \
&can_numaker_cbs_##inst); \
\
static uint32_t can_numaker_data_##inst; \
\
static struct can_mcan_data can_mcan_data_##inst = \
CAN_MCAN_DATA_INITIALIZER(&can_numaker_data_ ## inst); \
\
CAN_DEVICE_DT_INST_DEFINE(inst, \
&can_numaker_init, \
NULL, \
&can_mcan_data_##inst, \
&can_mcan_config_##inst, \
POST_KERNEL, \
CONFIG_CAN_INIT_PRIORITY, \
&can_numaker_driver_api); \
DT_INST_FOREACH_STATUS_OKAY(CAN_NUMAKER_INIT);

64
dts/arm/nuvoton/m46x.dtsi
View file

@ -428,6 +428,70 @@
#pwm-cells = <3>;
status = "disabled";
};
canfd0: canfd@40020000 {
compatible = "nuvoton,numaker-canfd";
reg = <0x40020000 0x200>, <0x40020200 0x1800>;
reg-names = "m_can", "message_ram";
interrupts = <112 0>, <113 0>;
interrupt-names = "LINE_0", "LINE_1";
resets = <&rst NUMAKER_CANFD0_RST>;
clocks = <&pcc NUMAKER_CANFD0_MODULE
NUMAKER_CLK_CLKSEL0_CANFD0SEL_HCLK
NUMAKER_CLK_CLKDIV5_CANFD0(1)>;
bosch,mram-cfg = <0x0 12 10 3 3 3 3 3>;
status = "disabled";
sample-point = <875>;
sample-point-data = <875>;
};
canfd1: canfd@40024000 {
compatible = "nuvoton,numaker-canfd";
reg = <0x40024000 0x200>, <0x40024200 0x1800>;
reg-names = "m_can", "message_ram";
interrupts = <114 0>, <115 0>;
interrupt-names = "LINE_0", "LINE_1";
resets = <&rst NUMAKER_CANFD1_RST>;
clocks = <&pcc NUMAKER_CANFD1_MODULE
NUMAKER_CLK_CLKSEL0_CANFD1SEL_HCLK
NUMAKER_CLK_CLKDIV5_CANFD1(1)>;
bosch,mram-cfg = <0x0 12 10 3 3 3 3 3>;
status = "disabled";
sample-point = <875>;
sample-point-data = <875>;
};
canfd2: canfd@40028000 {
compatible = "nuvoton,numaker-canfd";
reg = <0x40028000 0x200>, <0x40028200 0x1800>;
reg-names = "m_can", "message_ram";
interrupts = <120 0>, <121 0>;
interrupt-names = "LINE_0", "LINE_1";
resets = <&rst NUMAKER_CANFD2_RST>;
clocks = <&pcc NUMAKER_CANFD2_MODULE
NUMAKER_CLK_CLKSEL0_CANFD2SEL_HCLK
NUMAKER_CLK_CLKDIV5_CANFD2(1)>;
bosch,mram-cfg = <0x0 12 10 3 3 3 3 3>;
status = "disabled";
sample-point = <875>;
sample-point-data = <875>;
};
canfd3: canfd@4002c000 {
compatible = "nuvoton,numaker-canfd";
reg = <0x4002c000 0x200>, <0x4002c200 0x1800>;
reg-names = "m_can", "message_ram";
interrupts = <122 0>, <123 0>;
interrupt-names = "LINE_0", "LINE_1";
resets = <&rst NUMAKER_CANFD3_RST>;
clocks = <&pcc NUMAKER_CANFD3_MODULE
NUMAKER_CLK_CLKSEL0_CANFD3SEL_HCLK
NUMAKER_CLK_CLKDIV5_CANFD3(1)>;
bosch,mram-cfg = <0x0 12 10 3 3 3 3 3>;
status = "disabled";
sample-point = <875>;
sample-point-data = <875>;
};
};
};

21
dts/bindings/can/nuvoton,numaker-canfd.yaml Normal file
View file

@ -0,0 +1,21 @@
# Copyright (c) 2023 Nuvoton Technology Corporation
# SPDX-License-Identifier: Apache-2.0
description: Nuvoton NuMaker CAN-FD controller, using Bosch M_CAN IP
compatible: "nuvoton,numaker-canfd"
include: ["bosch,m_can-base.yaml", reset-device.yaml, pinctrl-device.yaml]
properties:
reg:
required: true
interrupts:
required: true
resets:
required: true
clocks:
required: true