Move the Bosch M_CAN header file to include/zephyr/drivers/can/can_mcan.h
for use in out-of-tree drivers.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
The minimum/maximum CAN timing parameters for the STM32 FDCAN driver uses
the wrong values for the minimum, nominal phase segment values.
Using the static initializers fixes these and aligns them to the Bosch
M_CAN manual. The STM32G4 reference manual contains contradicting limits
for these register values.
Fixes: #58429
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Restructure the Bosch M_CAN driver backend to use per-instance Message RAM
configuration.
This removes the need for a common, artificial "can" devicetree node for
SoCs with multiple Bosch M_CAN-based CAN controllers and allows for
per-instance configuration of the number of e.g. standard (11-bit) and
extended (29-bit) filter elements.
As part of the restructure, software handling of CAN filter flags was moved
from per-flags bitfields to per-filter bitfields, solving an issue when
using more than 32 standard (11-bit) filter elements or more than 16
extended (29-bit) filter elements.
Fixes: #42030, #53417
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
The Message RAM layout used by the STM32 FDCAN IPs contains a fixed number
of elements, even though the software can opt to use less standard/extended
filter elements. Change the BUILD_ASSERT() statements to reflect this.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Let the Bosch M_CAN front-end drivers supply their own Message RAM
read/write/clear functions.
This is preparation for supporting per-instance Bosch M_CAN Message RAM
layouts and for accessing Bosch M_CAN IP cores over peripheral busses.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Move definitions of the STM32 FDCAN specific registers to the front-end
driver implementation and implement remapping of these registers to/from
the standard Bosch M_CAN registers.
Some of the STM32 FDCAN register bit fields are limited in size compared to
the Bosch M_CAN specification. This is due to hardware limitations on the
number of elements in the various sections of the Message RAM. Add build
assertions to ensure the number of elements specified do not exceed the
hardware limitations instead of using custom definitions for these fields.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Some Bosch M_CAN IP core implementations use a fixed Message RAM
configuration, other use a fixed memory area and relative addressing,
others again have custom registers for configuring the Message RAM.
Move the responsibility for configuring the various Bosch M_CAN Message RAM
addresses to the front-end drivers. This removes some of the front-end
specific code from the backend. Provide a helper function for configuring
the most common variations.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Let the Bosch M_CAN front-end drivers supply their own register read/write
functions.
This is preparation for handling non-standard Bosch M_CAN register layouts
directly in the front-end and for accessing Bosch M_CAN IP cores over
peripheral busses.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Change automated searching for files using "IRQ_CONNECT()" API not
including <zephyr/irq.h>.
Signed-off-by: Gerard Marull-Paretas <gerard.marull@nordicsemi.no>
Up until now, the Zephyr CAN controller drivers set a default bitrate (or
timing) specified via devicetree and start the CAN controller in their
respective driver initialization functions.
This is fine for CAN nodes using only one fixed bitrate, but if the bitrate
is set by the user (e.g. via a DIP-switch or other HMI which is very
common), the CAN driver will still initialise with the default
bitrate/timing at boot and use this until the application has determined
the requested bitrate/timing and set it using
can_set_bitrate()/can_set_timing().
During this period, the CAN node will potentially destroy valid CAN frames
on the CAN bus (which is using the soon-to-be-set-by-the-application
bitrate) by sending error frames. This causes interruptions to the ongoing
CAN bus traffic when a Zephyr-based CAN node connected to the bus is
(re-)booted.
Instead, require all configuration (setting bitrate, timing, or mode) to
take place when the CAN controller is stopped. This maps nicely to entering
"reset mode" (called "configuration mode" or "freeze mode" for some CAN
controller implementations) when stopping and exiting this mode when
starting the CAN controller.
Fixes: #45304
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Remove the CAN_STM32FD_CLOCK_DIVISOR configuration option,
and add configuration via dts property clk-divider instead.
Signed-off-by: Thomas Stranger <thomas.stranger@outlook.com>
The configurable CAN clock divider CAN_STM32FD_CLOCK_DIVISOR
was not applied during initialization, because write protection
was not disabled.
While the clock divider was not applied, it was still used in clock rate
calculation, therefore resulting in incorrect bus speed setup.
Signed-off-by: Thomas Stranger <thomas.stranger@outlook.com>
Use domain clocks if they are defined in dts.
Until now domain clock sources could be selected via kconfig.
STM32 platform now can configure domain clock sources via
clock control driver, therefore this commit makes use of it.
The configuration is shared between canfd instances, so a domain clock
has to be defined for only one instance. Otherwise, only the
configuration from the latest initialized instance will remain.
The dependency on clock source PCLK1 for CAN_STM32FD_CLOCK_DIVISOR
was removed, because the divider also divides other clocks.
Note that setting that divider does not work at all at the moment,
because the write protection is not disabled.
Signed-off-by: Thomas Stranger <thomas.stranger@outlook.com>
Many device pointers are initialized at compile and never changed. This
means that the device pointer can be constified (immutable).
Automated using:
```
perl -i -pe 's/const struct device \*(?!const)(.*)= DEVICE/const struct
device *const $1= DEVICE/g' **/*.c
```
Signed-off-by: Gerard Marull-Paretas <gerard.marull@nordicsemi.no>
Add API function for getting the supported capabilities of a CAN
controller. This allows for writing portable CAN applications.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
the return is missing at the end of function which causes compilation
warning and block the build on github.
"warning: control reaches end of non-void function [-Wreturn-type]
92 | }| ^"
Signed-off-by: TLIG Dhaou <dhaou.tlig-ext@st.com>
The FDCAN clock was being enabled using HAL APIs instead of the generic
clock control API.
Signed-off-by: Gerard Marull-Paretas <gerard.marull@nordicsemi.no>
Rename the CAN data phase API functions to timing_data_* for consistency:
- can_get_timing_min_data() -> can_get_timing_data_min()
- can_get_timing_max_data() -> can_get_timing_data_max()
- .timing_min_data -> timing_data_min
- .timing_max_data -> timing_data_max
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
In order to bring consistency in-tree, migrate all drivers to the new
prefix <zephyr/...>. Note that the conversion has been scripted, refer
to #45388 for more details.
Signed-off-by: Gerard Marull-Paretas <gerard.marull@nordicsemi.no>
The STM32u% series of processors has a unique set of clock sources for
the FDCAN peripheral. This brings the selection in line with the
existing can_stm32fd clock selection Kconfigs.
This change was tested on a proprietary board using the STM32U5 series
which exposes the CAN pins of the SOC using a transciever on a live CAN
bus as well as on the nucleo_g474re board from ST in loopback mode.
HSE and PLL1Q tests run and all passed.
PLL2P is not currently supported by the clock drivers for STM32U5, and
as such is currently untested. When this support is added, the driver
should be able to use this clock without issue.
When changes from #42097 are merged this fix should be deprecated in
favor of using the methods outlined there.
Signed-off-by: Peter Maxwell Warasila <madmaxwell@soundcomesout.com>
Refactor the Bosch M_CAN shared driver functions to get rid of the
front-end driver wrapper functions.
This requires flipping the relationship between shared config/data
structs and front-end config/data structs. Front-end drivers can now
store a pointer to their custom config/data structs in the .custom
fields of the can_mcan_config and can_mcan_data data structures.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Rename CONFIG_CAN_STM32_CLOCK_DIVISOR to
CONFIG_CAN_STM32FD_CLOCK_DIVISOR to match driver Kconfig name.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Add support for selecting the CAN clock source. Change previously
hardcoded value of PCLK1 to HSE.
Fixes: #44985
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Fix the signature of the CAN bus recovery functions in the Bosch M_CAN
driver frontends.
Fixes: #44345
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
This commit changes the timing_min_data prop_seg
initialization of st,stm32-fdcan drier to zero.
Additionally the nominal sync jump width limits
are also adopted to new values 1 and 128.
This was not tested until recently and therefore
caused the can timing test to fail on stm32g4
after PR #44197 got merged.
Signed-off-by: Thomas Stranger <thomas.stranger@outlook.com>
Add generic support for can_get_max_filters() to the Bosch M_CAN
base driver and use it in all driver frontends.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Re-running the script that checks for the const qualifier missing on
struct device ISR's parameter.
The script also changes the parameter 'arg' to 'dev' when relevant.
Signed-off-by: Tomasz Bursztyka <tomasz.bursztyka@linux.intel.com>
The CAN_BUS_UNKNOWN CAN controller state is only used to indicate that
the current CAN controller state could not be read.
Remove it and change the signature of the can_get_state() API function
to return an integer indicating success or failure.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Stop using redundant DEV_DATA/DEV_CFG macros and use dev->data and
dev->config instead.
Signed-off-by: Gerard Marull-Paretas <gerard.marull@nordicsemi.no>
Add optional user data argument to can_set_state_change_callback() to
comply with Zephyr API design guidelines.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Rename a few CAN API functions for clarity and consistency with other
Zephyr RTOS APIs.
CAN_DEFINE_MSGQ() becomes CAN_MSGQ_DEFINE() to match K_MSGQ_DEFINE().
can_attach_isr() becomes can_add_rx_filter() since a filter callback
function is not an interrupt service routine (although it is called in
isr context). The word "attach" is replaced with "add" since filters are
added, not attached. This matches the terminology used is other Zephyr
APIs better.
can_detach() becomes can_remove_rx_filter() to pair with
can_add_rx_filter().
can_attach_msgq() becomes can_add_rx_filter_msgq() and documentation is
updated to mention its relationship with can_add_rx_filter().
can_register_state_change_isr() becomes can_set_state_change_callback()
since a state change callback function is not an interrupt service
routine (although it is called in isr context). The word "register" is
replaced with "set" since only one state change callback can be in
place.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
The PINCTRL_DT_(INST_)DEFINE macros already defined the trailing ;,
making its usage inconsistent with other macros such as
DEVICE_DT_DEFINE.
Signed-off-by: Gerard Marull-Paretas <gerard.marull@nordicsemi.no>
Catch up on the CAN driver API argument naming changes:
- Unify naming of callback function pointers as "callback".
- Unify naming of user-specified callback function arguments as
"user_data".
- Instances and pointers to struct zcan_frame are named "frame",
not "msg", to avoid confusion with the CAN message queue support.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
The maximum number of concurrent filters depends on the hardware and
the driver implementation. This API allows the application to obtain
the maximum number of available filters.
Signed-off-by: Martin Jäger <martin@libre.solar>
Refactors all of the CAN drivers to use a shared driver class
initialization priority configuration, CONFIG_CAN_INIT_PRIORITY, to
allow configuring CAN drivers separately from other devices. This is
similar to other driver classes like I2C and SPI.
The default is set to CONFIG_KERNEL_INIT_PRIORITY_DEVICE to preserve the
existing default initialization priority for most drivers. The exception
is the mcp2515 driver which has a dependency on a SPI driver and must
therefore initialize later than the default device priority.
Signed-off-by: Maureen Helm <maureen.helm@intel.com>
Since we removed various series headers, move stm32 driver
under main driver/pinmux folder.
Take this change into account into various drivers.
Signed-off-by: Erwan Gouriou <erwan.gouriou@linaro.org>
Implementation of the Bosch M_CAN IP driver.
This driver is just the base for a specific SoC implementation.
Signed-off-by: Alexander Wachter <alexander@wachter.cloud>
