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drivers: can: Implement stm32fd driver

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This driver is the SoC specific implementation of the
Bosch M_CAN IP.

Signed-off-by: Alexander Wachter <alexander@wachter.cloud>
This commit is contained in:
Alexander Wachter 2021-02-07 15:47:52 +01:00 • committed by Kumar Gala
commit f1754b19eb
6 changed files with 357 additions and 34 deletions
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20
drivers/can/can_mcan.c
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@ -86,6 +86,8 @@ void can_mcan_configure_timing(struct can_mcan_reg *can,
timing->phase_seg2 > 0);
__ASSERT_NO_MSG(timing->prescaler <= 0x200 &&
timing->prescaler > 0);
__ASSERT_NO_MSG(timing->sjw <= 0x80 && timing->sjw > 0);
can->nbtp = (((uint32_t)timing->phase_seg1 - 1UL) & 0xFF) <<
CAN_MCAN_NBTP_NTSEG1_POS |
(((uint32_t)timing->phase_seg2 - 1UL) & 0x7F) <<
@ -105,6 +107,8 @@ void can_mcan_configure_timing(struct can_mcan_reg *can,
timing_data->phase_seg2 > 0);
__ASSERT_NO_MSG(timing_data->prescaler <= 20 &&
timing_data->prescaler > 0);
__ASSERT_NO_MSG(timing_data->sjw <= 0x80 &&
timing_data->sjw > 0);
can->dbtp = (((uint32_t)timing_data->phase_seg1 - 1UL) & 0x1F) <<
CAN_MCAN_DBTP_DTSEG1_POS |
@ -247,12 +251,12 @@ int can_mcan_init(const struct device *dev, const struct can_mcan_config *cfg,
can->txefc = ((uint32_t)msg_ram->tx_event_fifo & CAN_MCAN_TXEFC_EFSA_MSK) |
(ARRAY_SIZE(msg_ram->tx_event_fifo) <<
CAN_MCAN_TXEFC_EFS_POS);
can->txbc = ((uint32_t)msg_ram->tx_fifo & CAN_MCAN_TXBC_TBSA) |
(ARRAY_SIZE(msg_ram->tx_fifo) << CAN_MCAN_TXBC_TFQS_POS);
if (sizeof(msg_ram->tx_fifo[0].data) <= 24) {
can->txesc = (sizeof(msg_ram->tx_fifo[0].data) - 8) / 4;
can->txbc = ((uint32_t)msg_ram->tx_buffer & CAN_MCAN_TXBC_TBSA) |
(ARRAY_SIZE(msg_ram->tx_buffer) << CAN_MCAN_TXBC_TFQS_POS);
if (sizeof(msg_ram->tx_buffer[0].data) <= 24) {
can->txesc = (sizeof(msg_ram->tx_buffer[0].data) - 8) / 4;
} else {
can->txesc = (sizeof(msg_ram->tx_fifo[0].data) - 32) / 16 + 5;
can->txesc = (sizeof(msg_ram->tx_buffer[0].data) - 32) / 16 + 5;
}
if (sizeof(msg_ram->rx_fifo0[0].data) <= 24) {
@ -612,7 +616,7 @@ int can_mcan_send(const struct can_mcan_config *cfg,
{
struct can_mcan_reg *can = cfg->can;
size_t data_length = can_dlc_to_bytes(frame->dlc);
struct can_mcan_tx_fifo_hdr tx_hdr = {
struct can_mcan_tx_buffer_hdr tx_hdr = {
.rtr = frame->rtr == CAN_REMOTEREQUEST,
.xtd = frame->id_type == CAN_EXTENDED_IDENTIFIER,
.esi = 0,
@ -675,10 +679,10 @@ int can_mcan_send(const struct can_mcan_config *cfg,
tx_hdr.ext_id = frame->id;
}
msg_ram->tx_fifo[put_idx].hdr = tx_hdr;
msg_ram->tx_buffer[put_idx].hdr = tx_hdr;
for (src = frame->data_32,
dst = msg_ram->tx_fifo[put_idx].data_32,
dst = msg_ram->tx_buffer[put_idx].data_32,
end = dst + CAN_DIV_CEIL(data_length, sizeof(uint32_t));
dst < end;
src++, dst++) {