michaelh/zephyr
1
0
Fork 0
Code Releases Activity

drivers: can: stm32: Support CAN_2 interface

Browse source 
Add support for the CAN_2 interface.

Simultaneous use of CAN_1 and CAN_2 is not supported yet.

Signed-off-by: Ivo Clarysse <ivo@bcdevices.com>
This commit is contained in:
Ivo Clarysse 2020-01-25 07:19:26 -08:00 • committed by Anas Nashif
commit fe9025aafb
3 changed files with 100 additions and 2 deletions
Download patch file Download diff file Expand all files Collapse all files

7
drivers/can/Kconfig
View file

@ -66,6 +66,13 @@ config CAN_1
help
Enable CAN controller 1
config CAN_2
bool "Enable CAN 2"
depends on SOC_SERIES_STM32F4X
help
Enable CAN controller 2 on the STM32F4 series of processors.
(Tested on the STM32F4 series, may also work on F7, F1, F2 and L4)
source "drivers/can/Kconfig.stm32"
source "drivers/can/Kconfig.mcux"
source "drivers/can/Kconfig.mcp2515"

94
drivers/can/can_stm32.c
View file

@ -21,6 +21,10 @@ LOG_MODULE_DECLARE(can_driver, CONFIG_CAN_LOG_LEVEL);
#define CAN_INIT_TIMEOUT (10 * sys_clock_hw_cycles_per_sec() / MSEC_PER_SEC)
#define CAN_BOFF_RECOVER_TIMEOUT (10 * sys_clock_hw_cycles_per_sec() / MSEC_PER_SEC)
#if defined(CONFIG_CAN_1) && defined(CONFIG_CAN_2)
#error Simultaneous use of CAN_1 and CAN_2 not supported yet
#endif
/*
* Translation tables
* filter_in_bank[enum can_filter_type] = number of filters in bank for this type
@ -384,6 +388,9 @@ static int can_stm32_init(struct device *dev)
const struct can_stm32_config *cfg = DEV_CFG(dev);
struct can_stm32_data *data = DEV_DATA(dev);
CAN_TypeDef *can = cfg->can;
#ifdef CONFIG_CAN_2
CAN_TypeDef *master_can = cfg->master_can;
#endif
struct device *clock;
int ret;
@ -422,6 +429,10 @@ static int can_stm32_init(struct device *dev)
return ret;
}
#ifdef CONFIG_CAN_2
master_can->FMR &= ~CAN_FMR_CAN2SB; /* Assign all filters to CAN2 */
#endif
/* Set TX priority to chronological order */
can->MCR |= CAN_MCR_TXFP;
can->MCR &= ~CAN_MCR_TTCM & ~CAN_MCR_TTCM & ~CAN_MCR_ABOM &
@ -945,7 +956,7 @@ static inline int can_stm32_attach(struct device *dev, can_rx_callback_t cb,
{
const struct can_stm32_config *cfg = DEV_CFG(dev);
struct can_stm32_data *data = DEV_DATA(dev);
CAN_TypeDef *can = cfg->can;
CAN_TypeDef *can = cfg->master_can;
int filter_index = 0;
int filter_nr;
@ -975,7 +986,7 @@ void can_stm32_detach(struct device *dev, int filter_nr)
{
const struct can_stm32_config *cfg = DEV_CFG(dev);
struct can_stm32_data *data = DEV_DATA(dev);
CAN_TypeDef *can = cfg->can;
CAN_TypeDef *can = cfg->master_can;
int bank_nr;
int filter_index;
u32_t bank_bit;
@ -1039,6 +1050,7 @@ static void config_can_1_irq(CAN_TypeDef *can);
static const struct can_stm32_config can_stm32_cfg_1 = {
.can = (CAN_TypeDef *)DT_CAN_1_BASE_ADDRESS,
.master_can = (CAN_TypeDef *)DT_CAN_1_BASE_ADDRESS,
.bus_speed = DT_CAN_1_BUS_SPEED,
.sjw = DT_CAN_1_SJW,
.prop_ts1 = DT_CAN_1_PROP_SEG + DT_CAN_1_PHASE_SEG1,
@ -1115,3 +1127,81 @@ NET_DEVICE_INIT(socket_can_stm32_1, SOCKET_CAN_NAME_1, socket_can_init_1,
#endif /* CONFIG_NET_SOCKETS_CAN */
#endif /*CONFIG_CAN_1*/
#ifdef CONFIG_CAN_2
static void config_can_2_irq(CAN_TypeDef *can);
static const struct can_stm32_config can_stm32_cfg_2 = {
.can = (CAN_TypeDef *)DT_CAN_2_BASE_ADDRESS,
.master_can = (CAN_TypeDef *)DT_CAN_1_BASE_ADDRESS,
.bus_speed = DT_CAN_2_BUS_SPEED,
.sjw = DT_CAN_2_SJW,
.prop_ts1 = DT_CAN_2_PROP_SEG + DT_CAN_2_PHASE_SEG1,
.ts2 = DT_CAN_2_PHASE_SEG2,
.pclken = {
.enr = DT_CAN_2_CLOCK_BITS,
.bus = DT_CAN_2_CLOCK_BUS,
},
.config_irq = config_can_2_irq
};
static struct can_stm32_data can_stm32_dev_data_2;
DEVICE_AND_API_INIT(can_stm32_2, DT_CAN_2_NAME, &can_stm32_init,
&can_stm32_dev_data_2, &can_stm32_cfg_2,
POST_KERNEL, CONFIG_KERNEL_INIT_PRIORITY_DEVICE,
&can_api_funcs);
static void config_can_2_irq(CAN_TypeDef *can)
{
LOG_DBG("Enable CAN2 IRQ");
IRQ_CONNECT(DT_CAN_2_IRQ_RX0, DT_CAN_2_IRQ_PRIORITY,
can_stm32_rx_isr, DEVICE_GET(can_stm32_2), 0);
irq_enable(DT_CAN_2_IRQ_RX0);
IRQ_CONNECT(DT_CAN_2_IRQ_TX, DT_CAN_2_IRQ_PRIORITY,
can_stm32_tx_isr, DEVICE_GET(can_stm32_2), 0);
irq_enable(DT_CAN_2_IRQ_TX);
IRQ_CONNECT(DT_CAN_2_IRQ_SCE, DT_CAN_2_IRQ_PRIORITY,
can_stm32_state_change_isr, DEVICE_GET(can_stm32_2), 0);
irq_enable(DT_CAN_2_IRQ_SCE);
can->IER |= CAN_IER_TMEIE | CAN_IER_ERRIE | CAN_IER_FMPIE0 |
CAN_IER_FMPIE1 | CAN_IER_BOFIE;
}
#if defined(CONFIG_NET_SOCKETS_CAN)
#include "socket_can_generic.h"
static int socket_can_init_2(struct device *dev)
{
struct device *can_dev = DEVICE_GET(can_stm32_2);
struct socket_can_context *socket_context = dev->driver_data;
LOG_DBG("Init socket CAN device %p (%s) for dev %p (%s)",
dev, dev->config->name, can_dev, can_dev->config->name);
socket_context->can_dev = can_dev;
socket_context->msgq = &socket_can_msgq;
socket_context->rx_tid =
k_thread_create(&socket_context->rx_thread_data,
rx_thread_stack,
K_THREAD_STACK_SIZEOF(rx_thread_stack),
rx_thread, socket_context, NULL, NULL,
RX_THREAD_PRIORITY, 0, K_NO_WAIT);
return 0;
}
NET_DEVICE_INIT(socket_can_stm32_2, SOCKET_CAN_NAME_2, socket_can_init_2,
&socket_can_context_2, NULL,
CONFIG_KERNEL_INIT_PRIORITY_DEVICE,
&socket_can_api,
CANBUS_RAW_L2, NET_L2_GET_CTX_TYPE(CANBUS_RAW_L2), CAN_MTU);
#endif /* CONFIG_NET_SOCKETS_CAN */
#endif /*CONFIG_CAN_2*/

1
drivers/can/can_stm32.h
View file

@ -69,6 +69,7 @@ struct can_stm32_data {
struct can_stm32_config {
CAN_TypeDef *can; /*!< CAN Registers*/
CAN_TypeDef *master_can; /*!< CAN Registers for shared filter */
u32_t bus_speed;
u8_t sjw;
u8_t prop_ts1;