drivers: can: Extend CAN API for bus-state management.
This commit extends the CAN API with the following functions: - can_get_state - can_recover - can_register_state_change_isr This functions can be used to get the error-counters and the state of the CAN controller. The recover function can be used to recover from bus-off state when automatic recovery is disabled. Signed-off-by: Alexander Wachter <alexander.wachter@student.tugraz.at>
This commit is contained in:
Alexander Wachter
Jukka Rissanen
parent
1f046d86a0
commit
c0da8a7901
10 changed files with 598 additions and 56 deletions
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@ -18,7 +18,8 @@
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#include <logging/log.h>
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LOG_MODULE_DECLARE(can_driver, CONFIG_CAN_LOG_LEVEL);
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#define INIT_TIMEOUT (10 * sys_clock_hw_cycles_per_sec() / MSEC_PER_SEC)
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#define CAN_INIT_TIMEOUT (10 * sys_clock_hw_cycles_per_sec() / MSEC_PER_SEC)
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#define CAN_BOFF_RECOVER_TIMEOUT (10 * sys_clock_hw_cycles_per_sec() / MSEC_PER_SEC)
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/*
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* Translation tables
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@ -92,6 +93,32 @@ void can_stm32_rx_isr_handler(CAN_TypeDef *can, struct can_stm32_data *data)
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}
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}
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static inline void can_stm32_bus_state_change_isr(CAN_TypeDef *can,
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struct can_stm32_data *data)
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{
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struct can_bus_err_cnt err_cnt;
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enum can_state state;
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if (!(can->ESR & CAN_ESR_EPVF) && !(can->ESR & CAN_ESR_BOFF)) {
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return;
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}
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err_cnt.tx_err_cnt = ((can->ESR & CAN_ESR_TEC) >> CAN_ESR_TEC_Pos);
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err_cnt.rx_err_cnt = ((can->ESR & CAN_ESR_REC) >> CAN_ESR_REC_Pos);
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if (can->ESR & CAN_ESR_BOFF) {
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state = CAN_BUS_OFF;
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} else if (can->ESR & CAN_ESR_EPVF) {
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state = CAN_ERROR_PASSIVE;
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} else {
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state = CAN_ERROR_ACTIVE;
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}
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if (data->state_change_isr) {
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data->state_change_isr(state, err_cnt);
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}
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}
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static inline
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void can_stm32_tx_isr_handler(CAN_TypeDef *can, struct can_stm32_data *data)
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{
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@ -156,7 +183,10 @@ static void can_stm32_isr(void *arg)
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can_stm32_tx_isr_handler(can, data);
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can_stm32_rx_isr_handler(can, data);
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if (can->MSR & CAN_MSR_ERRI) {
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can_stm32_bus_state_change_isr(can, data);
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can->MSR |= CAN_MSR_ERRI;
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}
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}
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#else
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@ -191,6 +221,27 @@ static void can_stm32_tx_isr(void *arg)
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can_stm32_tx_isr_handler(can, data);
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}
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static void can_stm32_state_change_isr(void *arg)
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{
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struct device *dev;
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struct can_stm32_data *data;
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const struct can_stm32_config *cfg;
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CAN_TypeDef *can;
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dev = (struct device *)arg;
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data = DEV_DATA(dev);
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cfg = DEV_CFG(dev);
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can = cfg->can;
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/*Signal bus-off to waiting tx*/
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if (can->MSR & CAN_MSR_ERRI) {
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can_stm32_tx_isr_handler(can, data);
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can_stm32_bus_state_change_isr(can, data);
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can->MSR |= CAN_MSR_ERRI;
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}
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}
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#endif
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static int can_enter_init_mode(CAN_TypeDef *can)
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@ -201,7 +252,8 @@ static int can_enter_init_mode(CAN_TypeDef *can)
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start_time = k_cycle_get_32();
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while ((can->MSR & CAN_MSR_INAK) == 0U) {
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if (k_cycle_get_32() - start_time > INIT_TIMEOUT) {
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if (k_cycle_get_32() - start_time > CAN_INIT_TIMEOUT) {
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can->MCR &= ~CAN_MCR_INRQ;
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return CAN_TIMEOUT;
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}
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}
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@ -217,7 +269,7 @@ static int can_leave_init_mode(CAN_TypeDef *can)
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start_time = k_cycle_get_32();
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while ((can->MSR & CAN_MSR_INAK) != 0U) {
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if (k_cycle_get_32() - start_time > INIT_TIMEOUT) {
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if (k_cycle_get_32() - start_time > CAN_INIT_TIMEOUT) {
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return CAN_TIMEOUT;
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}
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}
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@ -233,7 +285,7 @@ static int can_leave_sleep_mode(CAN_TypeDef *can)
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start_time = k_cycle_get_32();
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while ((can->MSR & CAN_MSR_SLAK) != 0) {
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if (k_cycle_get_32() - start_time > INIT_TIMEOUT) {
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if (k_cycle_get_32() - start_time > CAN_INIT_TIMEOUT) {
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return CAN_TIMEOUT;
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}
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}
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@ -247,6 +299,7 @@ int can_stm32_runtime_configure(struct device *dev, enum can_mode mode,
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CAN_HandleTypeDef hcan;
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const struct can_stm32_config *cfg = DEV_CFG(dev);
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CAN_TypeDef *can = cfg->can;
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struct can_stm32_data *data = DEV_DATA(dev);
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struct device *clock;
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u32_t clock_rate;
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u32_t prescaler;
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@ -301,10 +354,11 @@ int can_stm32_runtime_configure(struct device *dev, enum can_mode mode,
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(mode == CAN_SILENT_MODE) ? CAN_BTR_SILM :
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CAN_BTR_LBKM | CAN_BTR_SILM;
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k_mutex_lock(&data->inst_mutex, K_FOREVER);
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ret = can_enter_init_mode(can);
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if (ret) {
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LOG_ERR("Failed to enter init mode");
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return ret;
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goto done;
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}
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can->BTR = reg_mode | sjw | ts1 | ts2 | (prescaler - 1U);
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@ -312,11 +366,14 @@ int can_stm32_runtime_configure(struct device *dev, enum can_mode mode,
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ret = can_leave_init_mode(can);
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if (ret) {
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LOG_ERR("Failed to leave init mode");
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return ret;
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goto done;
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}
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LOG_DBG("Runtime configure of %s done", dev->config->name);
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return 0;
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ret = 0;
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done:
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k_mutex_unlock(&data->inst_mutex);
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return ret;
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}
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static int can_stm32_init(struct device *dev)
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@ -327,8 +384,7 @@ static int can_stm32_init(struct device *dev)
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struct device *clock;
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int ret;
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k_mutex_init(&data->tx_mutex);
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k_mutex_init(&data->set_filter_mutex);
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k_mutex_init(&data->inst_mutex);
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k_sem_init(&data->tx_int_sem, 0, 1);
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k_sem_init(&data->mb0.tx_int_sem, 0, 1);
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k_sem_init(&data->mb1.tx_int_sem, 0, 1);
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@ -336,6 +392,7 @@ static int can_stm32_init(struct device *dev)
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data->mb0.tx_callback = NULL;
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data->mb1.tx_callback = NULL;
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data->mb2.tx_callback = NULL;
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data->state_change_isr = NULL;
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data->filter_usage = (1ULL << CAN_MAX_NUMBER_OF_FILTERS) - 1ULL;
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(void)memset(data->rx_cb, 0, sizeof(data->rx_cb));
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@ -369,6 +426,9 @@ static int can_stm32_init(struct device *dev)
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#ifdef CONFIG_CAN_RX_TIMESTAMP
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can->MCR |= CAN_MCR_TTCM;
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#endif
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#ifdef CONFIG_CAN_AUTO_BUS_OFF_RECOVERY
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can->MCR |= CAN_MCR_ABOM;
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#endif
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ret = can_stm32_runtime_configure(dev, CAN_NORMAL_MODE, 0);
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if (ret) {
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@ -384,6 +444,88 @@ static int can_stm32_init(struct device *dev)
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return 0;
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}
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static void can_stm32_register_state_change_isr(struct device *dev,
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can_state_change_isr_t isr)
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{
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struct can_stm32_data *data = DEV_DATA(dev);
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const struct can_stm32_config *cfg = DEV_CFG(dev);
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CAN_TypeDef *can = cfg->can;
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data->state_change_isr = isr;
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if (isr == NULL) {
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can->IER &= ~CAN_IER_EPVIE;
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} else {
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can->IER |= CAN_IER_EPVIE;
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}
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}
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static enum can_state can_stm32_get_state(struct device *dev,
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struct can_bus_err_cnt *err_cnt)
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{
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const struct can_stm32_config *cfg = DEV_CFG(dev);
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CAN_TypeDef *can = cfg->can;
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if (err_cnt) {
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err_cnt->tx_err_cnt =
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((can->ESR & CAN_ESR_TEC) >> CAN_ESR_TEC_Pos);
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err_cnt->rx_err_cnt =
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((can->ESR & CAN_ESR_REC) >> CAN_ESR_REC_Pos);
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}
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if (can->ESR & CAN_ESR_BOFF) {
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return CAN_BUS_OFF;
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}
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if (can->ESR & CAN_ESR_EPVF) {
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return CAN_ERROR_PASSIVE;
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}
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return CAN_ERROR_ACTIVE;
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}
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#ifndef CONFIG_CAN_AUTO_BUS_OFF_RECOVERY
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int can_stm32_recover(struct device *dev, s32_t timeout)
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{
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const struct can_stm32_config *cfg = DEV_CFG(dev);
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struct can_stm32_data *data = DEV_DATA(dev);
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CAN_TypeDef *can = cfg->can;
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int ret = CAN_TIMEOUT;
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u32_t start_time;
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if (!(can->ESR & CAN_ESR_BOFF)) {
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return 0;
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}
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if (k_mutex_lock(&data->inst_mutex, K_FOREVER)) {
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return CAN_TIMEOUT;
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}
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ret = can_enter_init_mode(can);
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if (ret) {
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goto done;
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}
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can_leave_init_mode(can);
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start_time = k_cycle_get_32();
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while (can->ESR & CAN_ESR_BOFF) {
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if (k_cycle_get_32() - start_time >= CAN_BOFF_RECOVER_TIMEOUT) {
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goto done;
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}
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}
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ret = 0;
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done:
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k_mutex_unlock(&data->inst_mutex);
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return ret;
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}
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#endif /* CONFIG_CAN_AUTO_BUS_OFF_RECOVERY */
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int can_stm32_send(struct device *dev, const struct zcan_frame *msg,
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s32_t timeout, can_tx_callback_t callback, void *callback_arg)
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{
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@ -392,7 +534,6 @@ int can_stm32_send(struct device *dev, const struct zcan_frame *msg,
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CAN_TypeDef *can = cfg->can;
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u32_t transmit_status_register = can->TSR;
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CAN_TxMailBox_TypeDef *mailbox = NULL;
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struct k_mutex *tx_mutex = &data->tx_mutex;
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struct can_mailbox *mb = NULL;
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LOG_DBG("Sending %d bytes on %s. "
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@ -413,16 +554,16 @@ int can_stm32_send(struct device *dev, const struct zcan_frame *msg,
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return CAN_TX_BUS_OFF;
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}
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k_mutex_lock(tx_mutex, K_FOREVER);
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k_mutex_lock(&data->inst_mutex, K_FOREVER);
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while (!(transmit_status_register & CAN_TSR_TME)) {
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k_mutex_unlock(tx_mutex);
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k_mutex_unlock(&data->inst_mutex);
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LOG_DBG("Transmit buffer full. Wait with timeout (%dms)",
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timeout);
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if (k_sem_take(&data->tx_int_sem, timeout)) {
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return CAN_TIMEOUT;
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}
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k_mutex_lock(tx_mutex, K_FOREVER);
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k_mutex_lock(&data->inst_mutex, K_FOREVER);
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transmit_status_register = can->TSR;
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}
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@ -465,7 +606,7 @@ int can_stm32_send(struct device *dev, const struct zcan_frame *msg,
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mailbox->TDHR = msg->data_32[1];
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mailbox->TIR |= CAN_TI0R_TXRQ;
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k_mutex_unlock(tx_mutex);
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k_mutex_unlock(&data->inst_mutex);
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if (callback == NULL) {
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k_sem_take(&mb->tx_int_sem, K_FOREVER);
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@ -817,9 +958,9 @@ int can_stm32_attach_isr(struct device *dev, can_rx_callback_t isr,
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struct can_stm32_data *data = DEV_DATA(dev);
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int filter_nr;
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k_mutex_lock(&data->set_filter_mutex, K_FOREVER);
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k_mutex_lock(&data->inst_mutex, K_FOREVER);
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filter_nr = can_stm32_attach(dev, isr, cb_arg, filter);
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k_mutex_unlock(&data->set_filter_mutex);
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k_mutex_unlock(&data->inst_mutex);
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return filter_nr;
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}
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@ -838,7 +979,7 @@ void can_stm32_detach(struct device *dev, int filter_nr)
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__ASSERT_NO_MSG(filter_nr >= 0 && filter_nr < CAN_MAX_NUMBER_OF_FILTERS);
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k_mutex_lock(&data->set_filter_mutex, K_FOREVER);
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k_mutex_lock(&data->inst_mutex, K_FOREVER);
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bank_nr = filter_nr / 4;
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bank_bit = (1U << bank_nr);
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@ -870,14 +1011,19 @@ void can_stm32_detach(struct device *dev, int filter_nr)
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data->rx_cb[filter_index] = NULL;
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data->cb_arg[filter_index] = NULL;
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k_mutex_unlock(&data->set_filter_mutex);
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k_mutex_unlock(&data->inst_mutex);
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}
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static const struct can_driver_api can_api_funcs = {
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.configure = can_stm32_runtime_configure,
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.send = can_stm32_send,
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.attach_isr = can_stm32_attach_isr,
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.detach = can_stm32_detach
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.detach = can_stm32_detach,
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.get_state = can_stm32_get_state,
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#ifndef CONFIG_CAN_AUTO_BUS_OFF_RECOVERY
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.recover = can_stm32_recover,
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#endif
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.register_state_change_isr = can_stm32_register_state_change_isr
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};
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#ifdef CONFIG_CAN_1
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@ -921,7 +1067,7 @@ static void config_can_1_irq(CAN_TypeDef *can)
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irq_enable(DT_CAN_1_IRQ_TX);
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IRQ_CONNECT(DT_CAN_1_IRQ_SCE, DT_CAN_1_IRQ_PRIORITY,
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can_stm32_tx_isr, DEVICE_GET(can_stm32_1), 0);
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can_stm32_state_change_isr, DEVICE_GET(can_stm32_1), 0);
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irq_enable(DT_CAN_1_IRQ_SCE);
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#endif
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can->IER |= CAN_IER_TMEIE | CAN_IER_ERRIE | CAN_IER_FMPIE0 |
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