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rt-thread-official/bsp/phytium/libraries/drivers/drv_can.c

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/*
* Copyright (c) 2006-2023, RT-Thread Development Team
*
* SPDX-License-Identifier: Apache-2.0
*
* Email: opensource_embedded@phytium.com.cn
*
* Change Logs:
* Date Author Notes
* 2023-03-20 zhangyan first version
*
*/
#include "rtconfig.h"
#include <rtdevice.h>
#include "drv_can.h"
#define LOG_TAG "can_drv"
#include "drv_log.h"
#include "fcan.h"
#include "fio_mux.h"
#include "interrupt.h"
#include "fcpu_info.h"
#ifdef RT_USING_SMART
#include <ioremap.h>
#endif
struct phytium_can
{
const char *name;
FCanCtrl can_handle;
FCanIdMaskConfig filter;
struct rt_can_device device; /* inherit from can device */
};
#if defined(RT_USING_CAN0)
static struct phytium_can drv_can0;
#endif
#if defined(RT_USING_CAN1)
static struct phytium_can drv_can1;
#endif
static void CanRxIrqCallback(void *args)
{
struct phytium_can *drv_can = (struct phytium_can *)args;
rt_hw_can_isr(&(drv_can->device), RT_CAN_EVENT_RX_IND);
LOG_D("CAN%d irq recv frame callback.", drv_can->can_handle.config.instance_id);
}
static void CanTxIrqCallback(void *args)
{
struct phytium_can *drv_can = (struct phytium_can *)args;
rt_hw_can_isr(&(drv_can->device), RT_CAN_EVENT_TX_DONE);
LOG_D("CAN%d irq send frame callback.", drv_can->can_handle.config.instance_id);
}
static void CanErrorCallback(void *args)
{
FCanCtrl *instance_p = (FCanCtrl *)args;
uintptr base_addr = instance_p->config.base_address;
LOG_D("CAN %d is under error.", instance_p->config.instance_id);
LOG_D("error_status is %x.", FCAN_READ_REG32(base_addr, FCAN_INTR_OFFSET));
LOG_D("rxerr_cnt is %x.", FCAN_ERR_CNT_RFN_GET(FCAN_READ_REG32(base_addr, FCAN_ERR_CNT_OFFSET)));
LOG_D("txerr_cnt is %x.", FCAN_ERR_CNT_TFN_GET(FCAN_READ_REG32(base_addr, FCAN_ERR_CNT_OFFSET)));
}
static rt_err_t _can_config(struct rt_can_device *can, struct can_configure *cfg)
{
RT_ASSERT(can);
RT_ASSERT(cfg);
struct phytium_can *drv_can;
drv_can = (struct phytium_can *)can->parent.user_data;
RT_ASSERT(drv_can);
FError status = FT_SUCCESS;
rt_kprintf("CAN%d begin to config.\n", drv_can->can_handle.config.instance_id);
FIOPadSetCanMux(drv_can->can_handle.config.instance_id);
FCanConfig *config_p;
config_p = FCanLookupConfig(drv_can->can_handle.config.instance_id);
#ifdef RT_USING_SMART
config_p->base_address = (uintptr)rt_ioremap((void *)config_p->base_address, 0x1000);
#endif
/*CAN config init*/
status = FCanCfgInitialize(&(drv_can->can_handle), config_p);
if (status != FT_SUCCESS)
{
LOG_D("CAN %d initialize error, status = %#x.", drv_can->can_handle.config.instance_id, status);
return -RT_ERROR;
}
/*Set the baudrate*/
FCanBaudrateConfig arb_segment_config;
FCanBaudrateConfig data_segment_config;
memset(&arb_segment_config, 0, sizeof(arb_segment_config));
memset(&data_segment_config, 0, sizeof(data_segment_config));
#if defined(RT_CAN_USING_CANFD)
FCanFdEnable(&(drv_can->can_handle), TRUE);
arb_segment_config.auto_calc = TRUE;
arb_segment_config.baudrate = CAN1MBaud; /*CANFD arb baud defaults to 1M ,allowed to be modified*/
arb_segment_config.segment = FCAN_ARB_SEGMENT;
status = FCanBaudrateSet(&(drv_can->can_handle), &arb_segment_config);
if (status != RT_EOK)
{
LOG_D("CAN%d set arb segment baudrate failed.", drv_can->can_handle.config.instance_id);
return -RT_ERROR;
}
data_segment_config.auto_calc = TRUE;
data_segment_config.baudrate = cfg->baud_rate_fd;
data_segment_config.segment = FCAN_DATA_SEGMENT;
status = FCanBaudrateSet(&(drv_can->can_handle), &data_segment_config);
if (status != RT_EOK)
{
LOG_D("CAN%d set data segment baudrate failed.", drv_can->can_handle.config.instance_id);
return -RT_ERROR;
}
#else
arb_segment_config.auto_calc = TRUE;
arb_segment_config.baudrate = cfg->baud_rate;
arb_segment_config.segment = FCAN_ARB_SEGMENT;
status = FCanBaudrateSet(&(drv_can->can_handle), &arb_segment_config);
if (status != FT_SUCCESS)
{
LOG_D("CAN%d set arb segment baudrate failed.", drv_can->can_handle.config.instance_id);
return -RT_ERROR;
}
data_segment_config.auto_calc = TRUE;
data_segment_config.baudrate = cfg->baud_rate;
data_segment_config.segment = FCAN_DATA_SEGMENT;
status = FCanBaudrateSet(&(drv_can->can_handle), &data_segment_config);
if (status != FT_SUCCESS)
{
LOG_D("CAN%d set data segment baudrate failed.", drv_can->can_handle.config.instance_id);
return -RT_ERROR;
}
#endif
/*CAN filter function init*/
for (int i = 0; i < FCAN_ACC_ID_REG_NUM; i++)
{
drv_can->filter.filter_index = i;
drv_can->filter.id = 0;
drv_can->filter.mask = FCAN_ACC_IDN_MASK;
status |= FCanIdMaskFilterSet(&(drv_can->can_handle), &(drv_can->filter));
}
if (status != FT_SUCCESS)
{
LOG_E("CAN%d set mask filter failed.", drv_can->can_handle.config.instance_id);
return -RT_ERROR;
}
/* Identifier mask enable */
FCanIdMaskFilterEnable(&(drv_can->can_handle));
/* Transmit mode init , the default setting is normal mode */
FCanSetMode(&(drv_can->can_handle), FCAN_PROBE_NORMAL_MODE);
/* enable can transfer */
FCanEnable(&(drv_can->can_handle), RT_TRUE);
return RT_EOK;
}
static rt_err_t _can_control(struct rt_can_device *can, int cmd, void *arg)
{
RT_ASSERT(can);
rt_uint32_t argval;
struct phytium_can *drv_can;
drv_can = (struct phytium_can *)can->parent.user_data;
RT_ASSERT(drv_can != RT_NULL);
rt_uint32_t cpu_id = rt_hw_cpu_id();
FCanIntrEventConfig intr_event;
FError status = FT_SUCCESS;
#ifdef RT_CAN_USING_HDR
struct rt_can_filter_config *filter_cfg;
#endif
switch (cmd)
{
case RT_DEVICE_CTRL_SET_INT:
rt_hw_interrupt_set_target_cpus(drv_can->can_handle.config.irq_num, cpu_id);
argval = (rt_uint32_t) arg;
/*Open different interrupts*/
if (argval == RT_DEVICE_CAN_INT_ERR)
{
intr_event.type = FCAN_INTR_EVENT_ERROR;
intr_event.handler = CanErrorCallback;
intr_event.param = (void *)(&(drv_can->can_handle));
FCanRegisterInterruptHandler(&(drv_can->can_handle), &intr_event);
FCanInterruptEnable(&(drv_can->can_handle), intr_event.type);
}
if (argval == RT_DEVICE_FLAG_INT_TX)
{
intr_event.type = FCAN_INTR_EVENT_SEND;
intr_event.handler = CanTxIrqCallback;
intr_event.param = (void *)(drv_can);
FCanRegisterInterruptHandler(&(drv_can->can_handle), &intr_event);
FCanInterruptEnable(&(drv_can->can_handle), intr_event.type);
}
if (argval == RT_DEVICE_FLAG_INT_RX)
{
intr_event.type = FCAN_INTR_EVENT_RECV;
intr_event.handler = CanRxIrqCallback;
intr_event.param = (void *)(drv_can);
FCanRegisterInterruptHandler(&(drv_can->can_handle), &intr_event);
FCanInterruptEnable(&(drv_can->can_handle), intr_event.type);
}
rt_hw_interrupt_set_priority(drv_can->can_handle.config.irq_num, 16);
rt_hw_interrupt_install(drv_can->can_handle.config.irq_num, FCanIntrHandler, &(drv_can->can_handle), drv_can->name);
rt_hw_interrupt_umask(drv_can->can_handle.config.irq_num);
break;
case RT_CAN_CMD_SET_MODE:
argval = (rt_uint32_t) arg;
FCanEnable(&(drv_can->can_handle), RT_FALSE);
if (argval == RT_CAN_MODE_LISTEN)
{
FCanSetMode(&(drv_can->can_handle), FCAN_PROBE_MONITOR_MODE);
drv_can->device.config.mode = RT_CAN_MODE_LISTEN;
}
else if (argval == RT_CAN_MODE_NORMAL)
{
FCanSetMode(&(drv_can->can_handle), FCAN_PROBE_NORMAL_MODE);
drv_can->device.config.mode = RT_CAN_MODE_NORMAL;
}
FCanEnable(&(drv_can->can_handle), RT_TRUE);
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 &&
argval != CAN20kBaud &&
argval != CAN10kBaud)
{
return -RT_ERROR;
}
if (argval != drv_can->device.config.baud_rate)
{
FCanBaudrateConfig arb_segment_config;
FCanBaudrateConfig data_segment_config;
memset(&arb_segment_config, 0, sizeof(arb_segment_config));
memset(&data_segment_config, 0, sizeof(data_segment_config));
drv_can->device.config.baud_rate = argval;
FCanEnable(&(drv_can->can_handle), RT_FALSE);
arb_segment_config.auto_calc = TRUE;
arb_segment_config.baudrate = drv_can->device.config.baud_rate;
arb_segment_config.segment = FCAN_ARB_SEGMENT;
status = FCanBaudrateSet(&(drv_can->can_handle), &arb_segment_config);
if (status != FT_SUCCESS)
{
LOG_D("CAN%d set arb segment baudrate failed.", drv_can->can_handle.config.instance_id);
return -RT_ERROR;
}
data_segment_config.auto_calc = TRUE;
data_segment_config.baudrate = drv_can->device.config.baud_rate;
data_segment_config.segment = FCAN_DATA_SEGMENT;
status = FCanBaudrateSet(&(drv_can->can_handle), &data_segment_config);
if (status != FT_SUCCESS)
{
LOG_D("CAN%d set data segment baudrate failed.", drv_can->can_handle.config.instance_id);
return -RT_ERROR;
}
FCanEnable(&(drv_can->can_handle), RT_TRUE);
}
break;
case RT_CAN_CMD_SET_BAUD_FD:
#if defined RT_CAN_USING_CANFD
argval = (rt_uint32_t) arg;
if (argval != drv_can->device.config.baud_rate_fd)
{
FCanBaudrateConfig arb_segment_config;
FCanBaudrateConfig data_segment_config;
memset(&arb_segment_config, 0, sizeof(arb_segment_config));
memset(&data_segment_config, 0, sizeof(data_segment_config));
drv_can->device.config.baud_rate = argval;
FCanEnable(&(drv_can->can_handle), RT_FALSE);
arb_segment_config.auto_calc = TRUE;
arb_segment_config.baudrate = CAN1MBaud;
arb_segment_config.segment = FCAN_ARB_SEGMENT;
status = FCanBaudrateSet(&(drv_can->can_handle), &arb_segment_config);
if (status != FT_SUCCESS)
{
LOG_D("CAN%d set arb segment baudrate failed.", drv_can->can_handle.config.instance_id);
return -RT_ERROR;
}
data_segment_config.auto_calc = TRUE;
data_segment_config.baudrate = drv_can->device.config.baud_rate_fd;
data_segment_config.segment = FCAN_DATA_SEGMENT;
status = FCanBaudrateSet(&(drv_can->can_handle), &data_segment_config);
if (status != FT_SUCCESS)
{
LOG_D("CAN%d set data segment baudrate failed.", drv_can->can_handle.config.instance_id);
return -RT_ERROR;
}
FCanEnable(&(drv_can->can_handle), RT_TRUE);
}
#endif
break;
case RT_CAN_CMD_SET_FILTER:
#ifdef RT_CAN_USING_HDR
filter_cfg = (struct rt_can_filter_config *)arg;
FCanEnable(&(drv_can->can_handle), RT_FALSE);
for (int i = 0; i < filter_cfg->count; i++)
{
drv_can->filter.filter_index = i;
drv_can->filter.mask = filter_cfg->items[i].mask;
drv_can->filter.id = filter_cfg->items[i].id;
drv_can->filter.type = FCAN_STANDARD_FRAME;
status = FCanIdMaskFilterSet(&(drv_can->can_handle), &(drv_can->filter));
if (status != FT_SUCCESS)
{
LOG_E("CAN%d set mask filter failed.", drv_can->can_handle.config.instance_id);
return -RT_ERROR;
}
}
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);
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