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drivers/can/rcar: Add delay to mode switching

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Fix issue #45168.

When setting high bit timing, the controller is timing
out when trying to switch from an internal mode to another.
To fix this issue, we add some delay when switching modes.

Signed-off-by: Aymeric Aillet <aymeric.aillet@iot.bzh>
This commit is contained in:
Aymeric Aillet 2022-06-14 17:07:28 +02:00 • committed by Fabio Baltieri
commit b6701c0c45
1 changed files with 7 additions and 0 deletions
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7
drivers/can/can_rcar.c
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@ -530,6 +530,10 @@ static int can_rcar_enter_halt_mode(const struct can_rcar_cfg *config)
ctlr &= ~RCAR_CAN_CTLR_CANM_MASK;
ctlr |= RCAR_CAN_CTLR_CANM_HALT;
can_rcar_write16(config, RCAR_CAN_CTLR, ctlr);
/* Wait for controller to apply high bit timing settings */
k_usleep(1);
for (i = 0; i < MAX_STR_READS; i++) {
if (can_rcar_read16(config, RCAR_CAN_STR) & RCAR_CAN_STR_HLTST) {
return 0;
@ -548,6 +552,9 @@ static int can_rcar_enter_operation_mode(const struct can_rcar_cfg *config)
ctlr &= ~RCAR_CAN_CTLR_CANM_MASK;
can_rcar_write16(config, RCAR_CAN_CTLR, ctlr);
/* Wait for controller to apply high bit timing settings */
k_usleep(1);
for (i = 0; i < MAX_STR_READS; i++) {
str = can_rcar_read16(config, RCAR_CAN_STR);
if (!(str & RCAR_CAN_CTLR_CANM_MASK)) {