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drivers: can: mcan: add transceiver support

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Add support for CAN transceivers to the Bosch M_CAN CAN drivers.

Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
This commit is contained in:
Henrik Brix Andersen 2022-03-01 16:02:08 +01:00 • committed by Maureen Helm
commit d8e88b61eb
6 changed files with 118 additions and 10 deletions
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56
drivers/can/can_mcan.c
View file

@ -8,6 +8,7 @@
#include <string.h>
#include <kernel.h>
#include <drivers/can.h>
#include <drivers/can/transceiver.h>
#include "can_mcan.h"
#include "can_mcan_int.h"
#include <logging/log.h>
@ -212,9 +213,23 @@ int can_mcan_set_mode(const struct can_mcan_config *cfg, enum can_mode mode)
struct can_mcan_reg *can = cfg->can;
int ret;
if (cfg->phy != NULL) {
ret = can_transceiver_enable(cfg->phy);
if (ret != 0) {
LOG_ERR("failed to enable CAN transceiver (err %d)", ret);
return ret;
}
}
ret = can_enter_init_mode(can, K_MSEC(CAN_INIT_TIMEOUT));
if (ret) {
LOG_ERR("Failed to enter init mode");
if (cfg->phy != NULL) {
/* Attempt to disable the CAN transceiver in case of error */
(void)can_transceiver_disable(cfg->phy);
}
return -EIO;
}
@ -252,6 +267,11 @@ int can_mcan_set_mode(const struct can_mcan_config *cfg, enum can_mode mode)
ret = can_leave_init_mode(can, K_MSEC(CAN_INIT_TIMEOUT));
if (ret) {
LOG_ERR("Failed to leave init mode");
if (cfg->phy != NULL) {
/* Attempt to disable the CAN transceiver in case of error */
(void)can_transceiver_disable(cfg->phy);
}
}
return 0;
@ -275,16 +295,31 @@ int can_mcan_init(const struct device *dev, const struct can_mcan_config *cfg,
k_sem_init(&data->tx_fin_sem[i], 0, 1);
}
if (cfg->phy != NULL) {
if (!device_is_ready(cfg->phy)) {
LOG_ERR("CAN transceiver not ready");
return -ENODEV;
}
ret = can_transceiver_enable(cfg->phy);
if (ret != 0) {
LOG_ERR("failed to enable CAN transceiver (err %d)", ret);
return -EIO;
}
}
ret = can_exit_sleep_mode(can);
if (ret) {
LOG_ERR("Failed to exit sleep mode");
return -EIO;
ret = -EIO;
goto done;
}
ret = can_enter_init_mode(can, K_MSEC(CAN_INIT_TIMEOUT));
if (ret) {
LOG_ERR("Failed to enter init mode");
return -EIO;
ret = -EIO;
goto done;
}
/* Configuration Change Enable */
@ -376,7 +411,8 @@ int can_mcan_init(const struct device *dev, const struct can_mcan_config *cfg,
cfg->sample_point);
if (ret == -EINVAL) {
LOG_ERR("Can't find timing for given param");
return -EIO;
ret = -EIO;
goto done;
}
LOG_DBG("Presc: %d, TS1: %d, TS2: %d",
timing.prescaler, timing.phase_seg1, timing.phase_seg2);
@ -397,7 +433,8 @@ int can_mcan_init(const struct device *dev, const struct can_mcan_config *cfg,
cfg->sample_point_data);
if (ret == -EINVAL) {
LOG_ERR("Can't find timing for given dataphase param");
return -EIO;
ret = -EIO;
goto done;
}
LOG_DBG("Sample-point err data phase: %d", ret);
@ -441,10 +478,17 @@ int can_mcan_init(const struct device *dev, const struct can_mcan_config *cfg,
ret = can_leave_init_mode(can, K_MSEC(CAN_INIT_TIMEOUT));
if (ret) {
LOG_ERR("Failed to leave init mode");
return -EIO;
ret = -EIO;
goto done;
}
return 0;
done:
if (ret != 0 && cfg->phy != NULL) {
/* Attempt to disable the CAN transceiver in case of error */
(void)can_transceiver_disable(cfg->phy);
}
return ret;
}
static void can_mcan_state_change_handler(const struct can_mcan_config *cfg,