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rt-thread-official/bsp/loongson/ls1cdev/drivers/drv_can.c

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/*
* Copyright (c) 2006-2022, RT-Thread Development Team
*
* SPDX-License-Identifier: Apache-2.0
*
* Change Logs:
* Date Author Notes
* 2018-01-06 sundm75 first version
*/
#include <rtthread.h>
#include <rtdevice.h>
#include <board.h>
#include <rthw.h>
#include <drv_can.h>
#include "ls1c.h"
#include "../libraries/ls1c_public.h"
#include "../libraries/ls1c_regs.h"
#include "../libraries/ls1c_clock.h"
#include "../libraries/ls1c_can.h"
#include "../libraries/ls1c_pin.h"
#ifdef RT_USING_CAN
CanRxMsg RxMessage;
struct ls1c_bxcan
{
CAN_TypeDef *reg;
void * irq;
};
static rt_err_t bxmodifyfilter(struct ls1c_bxcan *pbxcan, struct rt_can_filter_item *pitem, rt_uint32_t actived)
{
rt_int32_t fcase;
rt_err_t res;
rt_int32_t hdr, fbase, foff;
CAN_TypeDef* CANx;
CANx = pbxcan->reg;
/*pitem->mode 1-掩码模式; 0- 滤波器模式 SJA1000中使用以下方式*/
/*SJA1000中AFM 1-单滤波器模式; 0- 双滤波器模式 */
fcase = pitem->mode;/*1-单滤波器模式; 0- 双滤波器模式*/
{
if (!actived)
{
return RT_EOK;
}
else if (pitem->hdr == -1)
{
res = -1;
if (res != RT_EOK)
{
return res;
}
}
else if (pitem->hdr >= 0)
{
rt_enter_critical();
res = RT_EOK;
if (res != RT_EOK)
{
return res;
}
hdr = pitem->hdr;
rt_exit_critical();
}
}
CAN_FilterInitTypeDef CAN_FilterInitStruct;
unsigned char ide, rtr, id , idmask, mode;
ide = (unsigned char) pitem->ide;
rtr = (unsigned char) pitem->rtr;
id = pitem->id;
idmask = pitem->mask;
mode = (unsigned char) pitem->mode;
CAN_FilterInitStruct.IDE = ide;
CAN_FilterInitStruct.RTR = rtr;
CAN_FilterInitStruct.ID = id;
CAN_FilterInitStruct.IDMASK = idmask;
CAN_FilterInitStruct.MODE = mode;
CAN_FilterInit(CANx, &CAN_FilterInitStruct);
return RT_EOK;
}
static rt_err_t setfilter(struct ls1c_bxcan *pbxcan, struct rt_can_filter_config *pconfig)
{
struct rt_can_filter_item *pitem = pconfig->items;
rt_uint32_t count = pconfig->count;
rt_err_t res;
while (count)
{
res = bxmodifyfilter(pbxcan, pitem, pconfig->actived);
if (res != RT_EOK)
{
return res;
}
pitem++;
count--;
}
return RT_EOK;
}
static void bxcan0_filter_init(struct rt_can_device *can)
{
struct ls1c_bxcan *pbxcan;
pbxcan = (struct ls1c_bxcan *) can->parent.user_data;
}
static void bxcan1_filter_init(struct rt_can_device *can)
{
struct ls1c_bxcan *pbxcan;
pbxcan = (struct ls1c_bxcan *) can->parent.user_data;
}
static void bxcan_init(CAN_TypeDef *pcan, rt_uint32_t baud, rt_uint32_t mode)
{
CAN_InitTypeDef CAN_InitStructure;
Ls1c_CanBPS_t bps ;
switch(baud)
{
case CAN1MBaud:
bps = LS1C_CAN1MBaud;
break;
case CAN800kBaud:
bps = LS1C_CAN800kBaud;
break;
case CAN500kBaud:
bps = LS1C_CAN500kBaud;
break;
case CAN250kBaud:
bps = LS1C_CAN250kBaud;
break;
case CAN125kBaud:
bps = LS1C_CAN125kBaud;
break;
case CAN50kBaud:
bps = LS1C_CAN40kBaud;
break;
default:
bps = LS1C_CAN250kBaud;
break;
}
switch (mode)
{
case RT_CAN_MODE_NORMAL:
CAN_InitStructure.CAN_Mode = 0x00;
break;
case RT_CAN_MODE_LISEN:
CAN_InitStructure.CAN_Mode = CAN_Mode_LOM;
break;
case RT_CAN_MODE_LOOPBACK:
CAN_InitStructure.CAN_Mode = CAN_Mode_STM;
break;
case RT_CAN_MODE_LOOPBACKANLISEN:
CAN_InitStructure.CAN_Mode = CAN_Mode_STM|CAN_Mode_LOM;
break;
}
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
switch (bps)
{
case LS1C_CAN1MBaud:
CAN_InitStructure.CAN_Prescaler = 9;
CAN_InitStructure.CAN_BS1 = CAN_BS1_4tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq;
break;
case LS1C_CAN800kBaud:
CAN_InitStructure.CAN_Prescaler = 8;
CAN_InitStructure.CAN_BS1 = CAN_BS1_7tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq;
break;
case LS1C_CAN500kBaud:
CAN_InitStructure.CAN_Prescaler = 9;
CAN_InitStructure.CAN_BS1 = CAN_BS1_11tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq;
break;
case LS1C_CAN250kBaud:
CAN_InitStructure.CAN_Prescaler = 36;
CAN_InitStructure.CAN_BS1 = CAN_BS1_4tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq;
break;
case LS1C_CAN125kBaud:
CAN_InitStructure.CAN_Prescaler = 36;
CAN_InitStructure.CAN_BS1 = CAN_BS1_11tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq;
break;
case LS1C_CAN100kBaud:
CAN_InitStructure.CAN_Prescaler = 63;
CAN_InitStructure.CAN_BS1 = CAN_BS1_7tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq;
break;
case LS1C_CAN50kBaud:
CAN_InitStructure.CAN_Prescaler = 63;
CAN_InitStructure.CAN_BS1 = CAN_BS1_16tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_3tq;
break;
default: //250K
CAN_InitStructure.CAN_Prescaler = 36;
CAN_InitStructure.CAN_BS1 = CAN_BS1_4tq;
CAN_InitStructure.CAN_BS2 = CAN_BS2_2tq;
break;
}
CAN_Init(pcan, &CAN_InitStructure);
}
#ifdef USING_BXCAN0
static void bxcan0_hw_init(void)
{
pin_set_purpose(54, PIN_PURPOSE_OTHER);
pin_set_purpose(55, PIN_PURPOSE_OTHER);
pin_set_remap(54, PIN_REMAP_THIRD);
pin_set_remap(55, PIN_REMAP_THIRD);
}
#endif
#ifdef USING_BXCAN1
static void bxcan1_hw_init(void)
{
pin_set_purpose(56, PIN_PURPOSE_OTHER);
pin_set_purpose(57, PIN_PURPOSE_OTHER);
pin_set_remap(56, PIN_REMAP_THIRD);
pin_set_remap(57, PIN_REMAP_THIRD);
}
#endif
static rt_err_t configure(struct rt_can_device *can, struct can_configure *cfg)
{
CAN_TypeDef *pbxcan;
pbxcan = ((struct ls1c_bxcan *) can->parent.user_data)->reg;
if (pbxcan == CAN0)
{
#ifdef USING_BXCAN0
bxcan0_hw_init();
bxcan_init(pbxcan, cfg->baud_rate, cfg->mode);
#endif
}
else if (pbxcan == CAN1)
{
#ifdef USING_BXCAN1
bxcan1_hw_init();
bxcan_init(pbxcan, cfg->baud_rate, cfg->mode);
#endif
}
return RT_EOK;
}
static rt_err_t control(struct rt_can_device *can, int cmd, void *arg)
{
struct ls1c_bxcan *pbxcan;
rt_uint32_t argval;
pbxcan = (struct ls1c_bxcan *) can->parent.user_data;
switch (cmd)
{
case RT_CAN_CMD_SET_FILTER:
return setfilter(pbxcan, (struct rt_can_filter_config *) arg);
break;
case RT_CAN_CMD_SET_MODE:
argval = (rt_uint32_t) arg;
if (argval != RT_CAN_MODE_NORMAL ||
argval != RT_CAN_MODE_LISEN ||
argval != RT_CAN_MODE_LOOPBACK ||
argval != RT_CAN_MODE_LOOPBACKANLISEN)
{
return RT_ERROR;
}
if (argval != can->config.mode)
{
can->config.mode = argval;
return CAN_SetMode(pbxcan->reg, argval);
}
break;
case RT_CAN_CMD_SET_BAUD:
argval = (rt_uint32_t) arg;
if (argval != CAN1MBaud &&
argval != CAN800kBaud &&
argval != CAN500kBaud &&
argval != CAN250kBaud &&
argval != CAN125kBaud &&
argval != CAN100kBaud &&
argval != CAN50kBaud )
{
return RT_ERROR;
}
if (argval != can->config.baud_rate)
{
can->config.baud_rate = argval;
Ls1c_CanBPS_t bps;
switch(argval)
{
case CAN1MBaud:
bps = LS1C_CAN1MBaud;
break;
case CAN800kBaud:
bps = LS1C_CAN800kBaud;
break;
case CAN500kBaud:
bps = LS1C_CAN500kBaud;
break;
case CAN250kBaud:
bps = LS1C_CAN250kBaud;
break;
case CAN125kBaud:
bps = LS1C_CAN125kBaud;
break;
case CAN50kBaud:
bps = LS1C_CAN40kBaud;
break;
default:
bps = LS1C_CAN250kBaud;
break;
}
return CAN_SetBps( pbxcan->reg, bps);
}
break;
case RT_CAN_CMD_GET_STATUS:
{
rt_uint32_t errtype;
errtype = pbxcan->reg->RXERR;
can->status.rcverrcnt = errtype ;
errtype = pbxcan->reg->TXERR;
can->status.snderrcnt = errtype ;
errtype = pbxcan->reg->ECC;
can->status.errcode = errtype ;
if (arg != &can->status)
{
rt_memcpy(arg, &can->status, sizeof(can->status));
}
}
break;
}
return RT_EOK;
}
static int sendmsg(struct rt_can_device *can, const void *buf, rt_uint32_t boxno)
{
CAN_TypeDef *pbxcan;
CanTxMsg TxMessage;
struct rt_can_msg *pmsg = (struct rt_can_msg *) buf;
int i;
pbxcan = ((struct ls1c_bxcan *) can->parent.user_data)->reg;
TxMessage.StdId = pmsg->id;
TxMessage.ExtId = pmsg->id;
TxMessage.RTR = pmsg->rtr;
TxMessage.IDE = pmsg->ide;
TxMessage.DLC = pmsg->len;
for( i=0; i<TxMessage.DLC ;i++)
{
TxMessage.Data[i] = pmsg->data[i];
}
CAN_Transmit(pbxcan, &TxMessage);
return RT_EOK;
}
static int recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t boxno)
{
CAN_TypeDef *pbxcan;
struct rt_can_msg *pmsg = (struct rt_can_msg *) buf;
int i;
pbxcan = ((struct ls1c_bxcan *) can->parent.user_data)->reg;
pmsg->ide = (rt_uint32_t) RxMessage.IDE;
if(RxMessage.IDE == 1)
pmsg->id = RxMessage.ExtId;
else
pmsg->id = RxMessage.StdId;
pmsg->len = RxMessage.DLC;
pmsg->rtr = RxMessage.RTR;
pmsg->hdr = 0;
for(i= 0;i< RxMessage.DLC; i++)
{
pmsg->data[i] = RxMessage.Data[i];
}
return RT_EOK;
}
static const struct rt_can_ops canops =
{
configure,
control,
sendmsg,
recvmsg,
};
#ifdef USING_BXCAN0
struct rt_can_device bxcan0;
void ls1c_can0_irqhandler(int irq, void *param)
{
CAN_TypeDef* CANx;
unsigned char status;
CANx = CAN0;
/*读寄存器清除中断*/
status = CANx->IR;
/*接收中断*/
if (( status & CAN_IR_RI) == CAN_IR_RI)
{
/*清除RI 中断*/
CAN_Receive(CANx, &RxMessage);
CANx->CMR |= CAN_CMR_RRB;
CANx->CMR |= CAN_CMR_CDO;
rt_hw_can_isr(&bxcan0, RT_CAN_EVENT_RX_IND);
rt_kprintf("\r\nCan0 int RX happened!\r\n");
}
/*发送中断*/
else if (( status & CAN_IR_TI) == CAN_IR_TI)
{
rt_hw_can_isr(&bxcan0, RT_CAN_EVENT_TX_DONE | 0 << 8);
rt_kprintf("\r\nCan0 int TX happened!\r\n");
}
/*数据溢出中断*/
else if (( status & CAN_IR_DOI) == CAN_IR_DOI)
{
rt_hw_can_isr(&bxcan0, RT_CAN_EVENT_RXOF_IND);
rt_kprintf("\r\nCan0 int RX OF happened!\r\n");
}
}
static struct ls1c_bxcan bxcan0data =
{
.reg = CAN0,
.irq = ls1c_can0_irqhandler,
};
#endif /*USING_BXCAN0*/
#ifdef USING_BXCAN1
struct rt_can_device bxcan1;
void ls1c_can1_irqhandler(int irq, void *param)
{
CAN_TypeDef* CANx;
unsigned char status;
CANx = CAN1;
/*读寄存器清除中断*/
status = CANx->IR;
/*接收中断*/
if (( status & CAN_IR_RI) == CAN_IR_RI)
{
/*清除RI 中断*/
CAN_Receive(CANx, &RxMessage);
CANx->CMR |= CAN_CMR_RRB;
CANx->CMR |= CAN_CMR_CDO;
rt_hw_can_isr(&bxcan1, RT_CAN_EVENT_RX_IND);
rt_kprintf("\r\nCan1 int RX happened!\r\n");
}
/*发送中断*/
else if (( status & CAN_IR_TI) == CAN_IR_TI)
{
rt_hw_can_isr(&bxcan1, RT_CAN_EVENT_TX_DONE | 0 << 8);
rt_kprintf("\r\nCan1 int TX happened!\r\n");
}
/*数据溢出中断*/
else if (( status & CAN_IR_DOI) == CAN_IR_DOI)
{
rt_hw_can_isr(&bxcan1, RT_CAN_EVENT_RXOF_IND);
rt_kprintf("\r\nCan1 int RX OF happened!\r\n");
}
}
static struct ls1c_bxcan bxcan1data =
{
.reg = CAN1,
.irq = ls1c_can1_irqhandler,
};
#endif /*USING_BXCAN1*/
int ls1c_bxcan_init(void)
{
#ifdef USING_BXCAN0
bxcan0.config.baud_rate = CAN250kBaud;
bxcan0.config.msgboxsz = 1;
bxcan0.config.sndboxnumber = 1;
bxcan0.config.mode = RT_CAN_MODE_NORMAL;
bxcan0.config.privmode = 0;
bxcan0.config.ticks = 50;
#ifdef RT_CAN_USING_HDR
bxcan0.config.maxhdr = 2;
#endif
rt_hw_can_register(&bxcan0, "bxcan0", &canops, &bxcan0data);
rt_kprintf("\r\ncan0 register! \r\n");
rt_hw_interrupt_install(LS1C_CAN0_IRQ,( rt_isr_handler_t)bxcan0data.irq , RT_NULL, "can0");
rt_hw_interrupt_umask(LS1C_CAN0_IRQ);
#endif
#ifdef USING_BXCAN1
bxcan1.config.baud_rate = CAN250kBaud;
bxcan1.config.msgboxsz = 1;
bxcan1.config.sndboxnumber = 1;
bxcan1.config.mode = RT_CAN_MODE_NORMAL;
bxcan1.config.privmode = 0;
bxcan1.config.ticks = 50;
#ifdef RT_CAN_USING_HDR
bxcan1.config.maxhdr = 2;
#endif
rt_hw_can_register(&bxcan1, "bxcan1", &canops, &bxcan1data);
rt_kprintf("\r\ncan1 register! \r\n");
rt_hw_interrupt_install(LS1C_CAN1_IRQ,( rt_isr_handler_t)bxcan1data.irq , RT_NULL, "can1");
rt_hw_interrupt_umask(LS1C_CAN1_IRQ);
#endif
return RT_EOK;
}
INIT_BOARD_EXPORT(ls1c_bxcan_init);
#endif /*RT_USING_CAN*/
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