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468 lines
16 KiB
468 lines
16 KiB
5 months ago
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/*
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* Copyright (c) 2006-2023, RT-Thread Development Team
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Email: opensource_embedded@phytium.com.cn
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*
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* Change Logs:
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* Date Author Notes
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* 2023-03-20 zhangyan first version
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*
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*/
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#include "rtconfig.h"
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#include <rtdevice.h>
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#include "drv_can.h"
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#define LOG_TAG "can_drv"
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#include "drv_log.h"
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#include "fcan.h"
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#include "fio_mux.h"
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#include "interrupt.h"
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#include "fcpu_info.h"
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#ifdef RT_USING_SMART
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#include <ioremap.h>
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#endif
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struct phytium_can
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{
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const char *name;
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FCanCtrl can_handle;
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FCanIdMaskConfig filter;
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struct rt_can_device device; /* inherit from can device */
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};
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#if defined(RT_USING_CAN0)
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static struct phytium_can drv_can0;
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#endif
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#if defined(RT_USING_CAN1)
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static struct phytium_can drv_can1;
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#endif
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static void CanRxIrqCallback(void *args)
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{
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struct phytium_can *drv_can = (struct phytium_can *)args;
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rt_hw_can_isr(&(drv_can->device), RT_CAN_EVENT_RX_IND);
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LOG_D("CAN%d irq recv frame callback.", drv_can->can_handle.config.instance_id);
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}
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static void CanTxIrqCallback(void *args)
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{
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struct phytium_can *drv_can = (struct phytium_can *)args;
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rt_hw_can_isr(&(drv_can->device), RT_CAN_EVENT_TX_DONE);
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LOG_D("CAN%d irq send frame callback.", drv_can->can_handle.config.instance_id);
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}
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static void CanErrorCallback(void *args)
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{
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FCanCtrl *instance_p = (FCanCtrl *)args;
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uintptr base_addr = instance_p->config.base_address;
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LOG_D("CAN %d is under error.", instance_p->config.instance_id);
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LOG_D("error_status is %x.", FCAN_READ_REG32(base_addr, FCAN_INTR_OFFSET));
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LOG_D("rxerr_cnt is %x.", FCAN_ERR_CNT_RFN_GET(FCAN_READ_REG32(base_addr, FCAN_ERR_CNT_OFFSET)));
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LOG_D("txerr_cnt is %x.", FCAN_ERR_CNT_TFN_GET(FCAN_READ_REG32(base_addr, FCAN_ERR_CNT_OFFSET)));
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}
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static rt_err_t _can_config(struct rt_can_device *can, struct can_configure *cfg)
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{
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RT_ASSERT(can);
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RT_ASSERT(cfg);
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struct phytium_can *drv_can;
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drv_can = (struct phytium_can *)can->parent.user_data;
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RT_ASSERT(drv_can);
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FError status = FT_SUCCESS;
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rt_kprintf("CAN%d begin to config.\n", drv_can->can_handle.config.instance_id);
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FIOPadSetCanMux(drv_can->can_handle.config.instance_id);
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FCanConfig *config_p;
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config_p = FCanLookupConfig(drv_can->can_handle.config.instance_id);
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#ifdef RT_USING_SMART
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config_p->base_address = (uintptr)rt_ioremap((void *)config_p->base_address, 0x1000);
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#endif
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/*CAN config init*/
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status = FCanCfgInitialize(&(drv_can->can_handle), config_p);
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if (status != FT_SUCCESS)
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{
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LOG_D("CAN %d initialize error, status = %#x.", drv_can->can_handle.config.instance_id, status);
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return -RT_ERROR;
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}
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/*Set the baudrate*/
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FCanBaudrateConfig arb_segment_config;
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FCanBaudrateConfig data_segment_config;
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memset(&arb_segment_config, 0, sizeof(arb_segment_config));
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memset(&data_segment_config, 0, sizeof(data_segment_config));
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#if defined(RT_CAN_USING_CANFD)
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FCanFdEnable(&(drv_can->can_handle), TRUE);
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arb_segment_config.auto_calc = TRUE;
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arb_segment_config.baudrate = CAN1MBaud; /*CANFD arb baud defaults to 1M ,allowed to be modified*/
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arb_segment_config.segment = FCAN_ARB_SEGMENT;
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status = FCanBaudrateSet(&(drv_can->can_handle), &arb_segment_config);
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if (status != RT_EOK)
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{
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LOG_D("CAN%d set arb segment baudrate failed.", drv_can->can_handle.config.instance_id);
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return -RT_ERROR;
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}
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data_segment_config.auto_calc = TRUE;
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data_segment_config.baudrate = cfg->baud_rate_fd;
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data_segment_config.segment = FCAN_DATA_SEGMENT;
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status = FCanBaudrateSet(&(drv_can->can_handle), &data_segment_config);
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if (status != RT_EOK)
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{
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LOG_D("CAN%d set data segment baudrate failed.", drv_can->can_handle.config.instance_id);
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return -RT_ERROR;
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}
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#else
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arb_segment_config.auto_calc = TRUE;
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arb_segment_config.baudrate = cfg->baud_rate;
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arb_segment_config.segment = FCAN_ARB_SEGMENT;
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status = FCanBaudrateSet(&(drv_can->can_handle), &arb_segment_config);
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if (status != FT_SUCCESS)
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{
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LOG_D("CAN%d set arb segment baudrate failed.", drv_can->can_handle.config.instance_id);
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return -RT_ERROR;
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}
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data_segment_config.auto_calc = TRUE;
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data_segment_config.baudrate = cfg->baud_rate;
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data_segment_config.segment = FCAN_DATA_SEGMENT;
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status = FCanBaudrateSet(&(drv_can->can_handle), &data_segment_config);
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if (status != FT_SUCCESS)
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{
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LOG_D("CAN%d set data segment baudrate failed.", drv_can->can_handle.config.instance_id);
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return -RT_ERROR;
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}
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#endif
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/*CAN filter function init*/
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for (int i = 0; i < FCAN_ACC_ID_REG_NUM; i++)
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{
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drv_can->filter.filter_index = i;
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drv_can->filter.id = 0;
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drv_can->filter.mask = FCAN_ACC_IDN_MASK;
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status |= FCanIdMaskFilterSet(&(drv_can->can_handle), &(drv_can->filter));
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}
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if (status != FT_SUCCESS)
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{
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LOG_E("CAN%d set mask filter failed.", drv_can->can_handle.config.instance_id);
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return -RT_ERROR;
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}
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/* Identifier mask enable */
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FCanIdMaskFilterEnable(&(drv_can->can_handle));
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/* Transmit mode init , the default setting is normal mode */
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FCanSetMode(&(drv_can->can_handle), FCAN_PROBE_NORMAL_MODE);
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/* enable can transfer */
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FCanEnable(&(drv_can->can_handle), RT_TRUE);
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return RT_EOK;
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}
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static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg)
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{
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RT_ASSERT(can);
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rt_uint32_t argval;
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struct phytium_can *drv_can;
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drv_can = (struct phytium_can *)can->parent.user_data;
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RT_ASSERT(drv_can != RT_NULL);
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rt_uint32_t cpu_id = rt_hw_cpu_id();
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FCanIntrEventConfig intr_event;
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FError status = FT_SUCCESS;
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#ifdef RT_CAN_USING_HDR
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struct rt_can_filter_config *filter_cfg;
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#endif
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switch (cmd)
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{
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case RT_DEVICE_CTRL_SET_INT:
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rt_hw_interrupt_set_target_cpus(drv_can->can_handle.config.irq_num, cpu_id);
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argval = (rt_uint32_t) arg;
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/*Open different interrupts*/
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if (argval == RT_DEVICE_CAN_INT_ERR)
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{
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intr_event.type = FCAN_INTR_EVENT_ERROR;
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intr_event.handler = CanErrorCallback;
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intr_event.param = (void *)(&(drv_can->can_handle));
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FCanRegisterInterruptHandler(&(drv_can->can_handle), &intr_event);
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FCanInterruptEnable(&(drv_can->can_handle), intr_event.type);
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}
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if (argval == RT_DEVICE_FLAG_INT_TX)
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{
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intr_event.type = FCAN_INTR_EVENT_SEND;
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intr_event.handler = CanTxIrqCallback;
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intr_event.param = (void *)(drv_can);
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FCanRegisterInterruptHandler(&(drv_can->can_handle), &intr_event);
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FCanInterruptEnable(&(drv_can->can_handle), intr_event.type);
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}
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if (argval == RT_DEVICE_FLAG_INT_RX)
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{
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intr_event.type = FCAN_INTR_EVENT_RECV;
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intr_event.handler = CanRxIrqCallback;
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intr_event.param = (void *)(drv_can);
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FCanRegisterInterruptHandler(&(drv_can->can_handle), &intr_event);
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FCanInterruptEnable(&(drv_can->can_handle), intr_event.type);
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}
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rt_hw_interrupt_set_priority(drv_can->can_handle.config.irq_num, 16);
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rt_hw_interrupt_install(drv_can->can_handle.config.irq_num, FCanIntrHandler, &(drv_can->can_handle), drv_can->name);
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rt_hw_interrupt_umask(drv_can->can_handle.config.irq_num);
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break;
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case RT_CAN_CMD_SET_MODE:
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argval = (rt_uint32_t) arg;
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FCanEnable(&(drv_can->can_handle), RT_FALSE);
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if (argval == RT_CAN_MODE_LISTEN)
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{
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FCanSetMode(&(drv_can->can_handle), FCAN_PROBE_MONITOR_MODE);
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drv_can->device.config.mode = RT_CAN_MODE_LISTEN;
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}
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else if (argval == RT_CAN_MODE_NORMAL)
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{
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FCanSetMode(&(drv_can->can_handle), FCAN_PROBE_NORMAL_MODE);
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drv_can->device.config.mode = RT_CAN_MODE_NORMAL;
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}
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FCanEnable(&(drv_can->can_handle), RT_TRUE);
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break;
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case RT_CAN_CMD_SET_BAUD:
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argval = (rt_uint32_t) arg;
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if (argval != CAN1MBaud &&
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argval != CAN800kBaud &&
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argval != CAN500kBaud &&
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argval != CAN250kBaud &&
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argval != CAN125kBaud &&
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argval != CAN100kBaud &&
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argval != CAN50kBaud &&
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argval != CAN20kBaud &&
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argval != CAN10kBaud)
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{
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return -RT_ERROR;
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}
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if (argval != drv_can->device.config.baud_rate)
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{
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FCanBaudrateConfig arb_segment_config;
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FCanBaudrateConfig data_segment_config;
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memset(&arb_segment_config, 0, sizeof(arb_segment_config));
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memset(&data_segment_config, 0, sizeof(data_segment_config));
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drv_can->device.config.baud_rate = argval;
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FCanEnable(&(drv_can->can_handle), RT_FALSE);
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arb_segment_config.auto_calc = TRUE;
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arb_segment_config.baudrate = drv_can->device.config.baud_rate;
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arb_segment_config.segment = FCAN_ARB_SEGMENT;
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status = FCanBaudrateSet(&(drv_can->can_handle), &arb_segment_config);
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if (status != FT_SUCCESS)
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{
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LOG_D("CAN%d set arb segment baudrate failed.", drv_can->can_handle.config.instance_id);
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return -RT_ERROR;
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}
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data_segment_config.auto_calc = TRUE;
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data_segment_config.baudrate = drv_can->device.config.baud_rate;
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data_segment_config.segment = FCAN_DATA_SEGMENT;
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status = FCanBaudrateSet(&(drv_can->can_handle), &data_segment_config);
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if (status != FT_SUCCESS)
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{
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LOG_D("CAN%d set data segment baudrate failed.", drv_can->can_handle.config.instance_id);
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return -RT_ERROR;
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}
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FCanEnable(&(drv_can->can_handle), RT_TRUE);
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}
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break;
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case RT_CAN_CMD_SET_BAUD_FD:
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#if defined RT_CAN_USING_CANFD
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argval = (rt_uint32_t) arg;
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if (argval != drv_can->device.config.baud_rate_fd)
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{
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FCanBaudrateConfig arb_segment_config;
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FCanBaudrateConfig data_segment_config;
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memset(&arb_segment_config, 0, sizeof(arb_segment_config));
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memset(&data_segment_config, 0, sizeof(data_segment_config));
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drv_can->device.config.baud_rate = argval;
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FCanEnable(&(drv_can->can_handle), RT_FALSE);
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arb_segment_config.auto_calc = TRUE;
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arb_segment_config.baudrate = CAN1MBaud;
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arb_segment_config.segment = FCAN_ARB_SEGMENT;
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status = FCanBaudrateSet(&(drv_can->can_handle), &arb_segment_config);
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if (status != FT_SUCCESS)
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{
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LOG_D("CAN%d set arb segment baudrate failed.", drv_can->can_handle.config.instance_id);
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return -RT_ERROR;
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}
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data_segment_config.auto_calc = TRUE;
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data_segment_config.baudrate = drv_can->device.config.baud_rate_fd;
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data_segment_config.segment = FCAN_DATA_SEGMENT;
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status = FCanBaudrateSet(&(drv_can->can_handle), &data_segment_config);
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if (status != FT_SUCCESS)
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{
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LOG_D("CAN%d set data segment baudrate failed.", drv_can->can_handle.config.instance_id);
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return -RT_ERROR;
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}
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FCanEnable(&(drv_can->can_handle), RT_TRUE);
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}
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#endif
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break;
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case RT_CAN_CMD_SET_FILTER:
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#ifdef RT_CAN_USING_HDR
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filter_cfg = (struct rt_can_filter_config *)arg;
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FCanEnable(&(drv_can->can_handle), RT_FALSE);
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for (int i = 0; i < filter_cfg->count; i++)
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{
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drv_can->filter.filter_index = i;
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drv_can->filter.mask = filter_cfg->items[i].mask;
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drv_can->filter.id = filter_cfg->items[i].id;
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drv_can->filter.type = FCAN_STANDARD_FRAME;
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status = FCanIdMaskFilterSet(&(drv_can->can_handle), &(drv_can->filter));
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if (status != FT_SUCCESS)
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{
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LOG_E("CAN%d set mask filter failed.", drv_can->can_handle.config.instance_id);
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return -RT_ERROR;
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}
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}
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FCanEnable(&(drv_can->can_handle), RT_TRUE);
|
||
|
|
#endif
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
|
||
|
|
return RT_EOK;
|
||
|
|
}
|
||
|
|
|
||
|
|
static rt_ssize_t _can_sendmsg(struct rt_can_device *can, const void *buf, rt_uint32_t box_num)
|
||
|
|
{
|
||
|
|
RT_ASSERT(can);
|
||
|
|
RT_ASSERT(buf);
|
||
|
|
struct phytium_can *drv_can;
|
||
|
|
drv_can = (struct phytium_can *)can->parent.user_data;
|
||
|
|
RT_ASSERT(drv_can);
|
||
|
|
struct rt_can_msg *pmsg = (struct rt_can_msg *)buf;
|
||
|
|
FCanFrame can_frame = {0};
|
||
|
|
|
||
|
|
/* Check the parameters */
|
||
|
|
RT_ASSERT(pmsg->len <= 8U);
|
||
|
|
|
||
|
|
if (RT_CAN_STDID == pmsg->ide)
|
||
|
|
{
|
||
|
|
can_frame.canid = pmsg->id;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
can_frame.canid = pmsg->id;
|
||
|
|
can_frame.canid |= CAN_EFF_FLAG;
|
||
|
|
}
|
||
|
|
if (RT_CAN_DTR == pmsg->rtr)
|
||
|
|
{
|
||
|
|
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
can_frame.canid |= CAN_RTR_FLAG;
|
||
|
|
}
|
||
|
|
|
||
|
|
can_frame.candlc = pmsg->len ;
|
||
|
|
|
||
|
|
memcpy(can_frame.data, pmsg->data, 8);
|
||
|
|
return (FCanSend(&drv_can->can_handle, &can_frame) == RT_EOK) ? RT_EOK : -RT_ERROR;
|
||
|
|
}
|
||
|
|
|
||
|
|
static rt_ssize_t _can_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t fifo)
|
||
|
|
{
|
||
|
|
RT_ASSERT(can);
|
||
|
|
RT_ASSERT(buf);
|
||
|
|
struct phytium_can *drv_can;
|
||
|
|
drv_can = (struct phytium_can *)can->parent.user_data;
|
||
|
|
RT_ASSERT(drv_can);
|
||
|
|
struct rt_can_msg *pmsg = (struct rt_can_msg *)buf;
|
||
|
|
FCanFrame recv_frame;
|
||
|
|
FError status = FT_SUCCESS;
|
||
|
|
|
||
|
|
status = FCanRecv(&(drv_can->can_handle), &recv_frame);
|
||
|
|
if (status != FT_SUCCESS)
|
||
|
|
{
|
||
|
|
LOG_D("CAN%d recv data failed.", drv_can->can_handle.config.instance_id);
|
||
|
|
return -RT_ERROR;
|
||
|
|
}
|
||
|
|
if (CAN_EFF_FLAG & recv_frame.canid)
|
||
|
|
{
|
||
|
|
pmsg->ide = RT_CAN_EXTID;
|
||
|
|
pmsg->id = (recv_frame.canid & ~(RT_CAN_EXTID));
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
pmsg->ide = RT_CAN_STDID;
|
||
|
|
pmsg->id = recv_frame.canid;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (CAN_RTR_FLAG & recv_frame.canid)
|
||
|
|
{
|
||
|
|
pmsg->id &= ~CAN_RTR_FLAG;
|
||
|
|
pmsg->rtr = RT_CAN_RTR;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
pmsg->rtr = RT_CAN_DTR;
|
||
|
|
}
|
||
|
|
|
||
|
|
/* get len */
|
||
|
|
pmsg->len = recv_frame.candlc;
|
||
|
|
for (int i = 0; i < pmsg->len; i++)
|
||
|
|
{
|
||
|
|
pmsg->data[i] = recv_frame.data[i];
|
||
|
|
}
|
||
|
|
/* get hdr */
|
||
|
|
pmsg->hdr_index = 0;
|
||
|
|
|
||
|
|
return RT_EOK;
|
||
|
|
}
|
||
|
|
|
||
|
|
static const struct rt_can_ops _can_ops =
|
||
|
|
{
|
||
|
|
_can_config,
|
||
|
|
_can_control,
|
||
|
|
_can_sendmsg,
|
||
|
|
_can_recvmsg,
|
||
|
|
};
|
||
|
|
|
||
|
|
static int can_init(struct phytium_can *drv_can)
|
||
|
|
{
|
||
|
|
rt_err_t ret = RT_EOK;
|
||
|
|
|
||
|
|
drv_can->device.config.ticks = 20000;
|
||
|
|
/*can default baud_rate*/
|
||
|
|
drv_can->device.config.baud_rate = CAN800kBaud;
|
||
|
|
#ifdef RT_CAN_USING_CANFD
|
||
|
|
/*canfd default baud_rate 1M+800K*/
|
||
|
|
drv_can->device.config.baud_rate_fd = CAN800kBaud;
|
||
|
|
#endif
|
||
|
|
drv_can->device.config.mode = RT_CAN_MODE_NORMAL;
|
||
|
|
drv_can->device.config.sndboxnumber = 1;
|
||
|
|
drv_can->device.config.msgboxsz = 1;
|
||
|
|
#ifdef RT_CAN_USING_HDR
|
||
|
|
drv_can->device.config.maxhdr = 1;
|
||
|
|
#endif
|
||
|
|
ret = rt_hw_can_register(&drv_can->device,
|
||
|
|
drv_can->name,
|
||
|
|
&_can_ops,
|
||
|
|
drv_can);
|
||
|
|
RT_ASSERT(ret == RT_EOK);
|
||
|
|
|
||
|
|
return ret;
|
||
|
|
}
|
||
|
|
|
||
|
|
int rt_hw_can_init(void)
|
||
|
|
{
|
||
|
|
#if defined(RT_USING_CAN0)
|
||
|
|
drv_can0.name = "CAN0";
|
||
|
|
drv_can0.can_handle.config.instance_id = FCAN0_ID;
|
||
|
|
can_init(&drv_can0);
|
||
|
|
#endif
|
||
|
|
#if defined(RT_USING_CAN1)
|
||
|
|
drv_can1.name = "CAN1";
|
||
|
|
drv_can1.can_handle.config.instance_id = FCAN1_ID;
|
||
|
|
can_init(&drv_can1);
|
||
|
|
#endif
|
||
|
|
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
INIT_BOARD_EXPORT(rt_hw_can_init);
|