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drivers: can: mcux: flexcan: only initialize the FlexCAN IP once

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Only initialize the FlexCAN IP core once since initialzing it has the
side effect of resetting the IP core and thus clearing previous settings
such as RX filters.

Fixes: #44680

Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
This commit is contained in:
Henrik Brix Andersen 2022-04-08 10:23:49 +02:00 • committed by Carles Cufí
commit ce18e41400
1 changed files with 42 additions and 27 deletions
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69
drivers/can/can_mcux_flexcan.c
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@ -183,17 +183,11 @@ static int mcux_flexcan_set_timing(const struct device *dev,
static int mcux_flexcan_set_mode(const struct device *dev, enum can_mode mode)
{
struct mcux_flexcan_data *data = dev->data;
const struct mcux_flexcan_config *config = dev->config;
flexcan_config_t flexcan_config;
uint32_t clock_freq;
uint32_t ctrl1;
uint32_t mcr;
int err;
err = mcux_flexcan_get_core_clock(dev, &clock_freq);
if (err != 0) {
return -EIO;
}
if (config->phy != NULL) {
err = can_transceiver_enable(config->phy);
if (err != 0) {
@ -202,31 +196,33 @@ static int mcux_flexcan_set_mode(const struct device *dev, enum can_mode mode)
}
}
FLEXCAN_GetDefaultConfig(&flexcan_config);
flexcan_config.maxMbNum = FSL_FEATURE_FLEXCAN_HAS_MESSAGE_BUFFER_MAX_NUMBERn(0);
flexcan_config.clkSrc = config->clk_source;
flexcan_config.baudRate = clock_freq /
(1U + data->timing.prop_seg + data->timing.phase_seg1 +
data->timing.phase_seg2) / data->timing.prescaler;
flexcan_config.enableIndividMask = true;
FLEXCAN_EnterFreezeMode(config->base);
flexcan_config.timingConfig.rJumpwidth = data->timing.sjw - 1U;
flexcan_config.timingConfig.propSeg = data->timing.prop_seg - 1U;
flexcan_config.timingConfig.phaseSeg1 = data->timing.phase_seg1 - 1U;
flexcan_config.timingConfig.phaseSeg2 = data->timing.phase_seg2 - 1U;
ctrl1 = config->base->CTRL1;
mcr = config->base->MCR;
if (mode == CAN_LOOPBACK_MODE || mode == CAN_SILENT_LOOPBACK_MODE) {
flexcan_config.enableLoopBack = true;
/* Enable loopback and self-reception */
ctrl1 |= CAN_CTRL1_LPB_MASK;
mcr &= ~(CAN_MCR_SRXDIS_MASK);
} else {
/* Disable self-reception unless loopback is requested */
flexcan_config.disableSelfReception = true;
/* Disable loopback and self-reception */
ctrl1 &= ~(CAN_CTRL1_LPB_MASK);
mcr |= CAN_MCR_SRXDIS_MASK;
}
if (mode == CAN_SILENT_MODE || mode == CAN_SILENT_LOOPBACK_MODE) {
flexcan_config.enableListenOnlyMode = true;
/* Enable listen-only mode */
ctrl1 |= CAN_CTRL1_LOM_MASK;
} else {
/* Disable listen-only mode */
ctrl1 &= ~(CAN_CTRL1_LOM_MASK);
}
FLEXCAN_Init(config->base, &flexcan_config, clock_freq);
config->base->CTRL1 = ctrl1;
config->base->MCR = mcr;
FLEXCAN_ExitFreezeMode(config->base);
return 0;
}
@ -691,6 +687,8 @@ static int mcux_flexcan_init(const struct device *dev)
{
const struct mcux_flexcan_config *config = dev->config;
struct mcux_flexcan_data *data = dev->data;
flexcan_config_t flexcan_config;
uint32_t clock_freq;
int err;
int i;
@ -743,13 +741,30 @@ static int mcux_flexcan_init(const struct device *dev)
}
#endif
err = mcux_flexcan_set_mode(dev, CAN_NORMAL_MODE);
if (err) {
return err;
err = mcux_flexcan_get_core_clock(dev, &clock_freq);
if (err != 0) {
return -EIO;
}
data->dev = dev;
FLEXCAN_GetDefaultConfig(&flexcan_config);
flexcan_config.maxMbNum = FSL_FEATURE_FLEXCAN_HAS_MESSAGE_BUFFER_MAX_NUMBERn(0);
flexcan_config.clkSrc = config->clk_source;
flexcan_config.baudRate = clock_freq /
(1U + data->timing.prop_seg + data->timing.phase_seg1 +
data->timing.phase_seg2) / data->timing.prescaler;
flexcan_config.enableIndividMask = true;
flexcan_config.enableLoopBack = false;
flexcan_config.disableSelfReception = true;
flexcan_config.enableListenOnlyMode = false;
flexcan_config.timingConfig.rJumpwidth = data->timing.sjw - 1U;
flexcan_config.timingConfig.propSeg = data->timing.prop_seg - 1U;
flexcan_config.timingConfig.phaseSeg1 = data->timing.phase_seg1 - 1U;
flexcan_config.timingConfig.phaseSeg2 = data->timing.phase_seg2 - 1U;
FLEXCAN_Init(config->base, &flexcan_config, clock_freq);
FLEXCAN_TransferCreateHandle(config->base, &data->handle,
mcux_flexcan_transfer_callback, data);