250 lines
8.0 KiB
C
250 lines
8.0 KiB
C
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/*
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* Copyright : (C) 2022 Phytium Information Technology, Inc.
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* All Rights Reserved.
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*
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* This program is OPEN SOURCE software: you can redistribute it and/or modify it
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* under the terms of the Phytium Public License as published by the Phytium Technology Co.,Ltd,
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* either version 1.0 of the License, or (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,but WITHOUT ANY WARRANTY;
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* without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the Phytium Public License for more details.
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*
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*
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* FilePath: fcan.h
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* Date: 2021-04-27 15:08:44
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* LastEditTime: 2022-02-18 08:29:25
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* Description: This files is for
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*
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* Modify History:
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* Ver Who Date Changes
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* ----- ------ -------- --------------------------------------
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*/
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#ifndef FT_CAN_H
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#define FT_CAN_H
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#include "ftypes.h"
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#include "ferror_code.h"
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#include "fparameters.h"
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#include "fkernel.h"
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#include "fcan_hw.h"
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typedef enum
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{
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FCAN_INTR_EVENT_SEND = 0, /* Handler type for frame sending interrupt */
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FCAN_INTR_EVENT_RECV = 1, /* Handler type for frame reception interrupt */
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FCAN_INTR_EVENT_ERROR, /* Handler type for error interrupt */
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FCAN_INTR_EVENT_NUM
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} FCanIntrEventType;
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#define FCAN_SUCCESS FT_SUCCESS /* SUCCESS */
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#define FCAN_NOT_READY FT_MAKE_ERRCODE(ErrModBsp, ErrBspCan, 1)
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#define FCAN_FAILURE FT_MAKE_ERRCODE(ErrModBsp, ErrBspCan, 2) /* failed */
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#define FCAN_INVAL_PARAM FT_MAKE_ERRCODE(ErrModBsp, ErrBspCan, 3) /* invalid parameters */
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#if defined(CONFIG_FCAN_USE_CANFD)
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#define FCAN_DATA_LENGTH 64U
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#else
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#define FCAN_DATA_LENGTH 8U
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#endif
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/* CAN payload length and DLC definitions according to ISO 11898-1 */
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#define CAN_MAX_DLC 8
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#define CAN_MAX_DLEN 8
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#define CAN_MAX_CTL 3
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#define CAN_SFF_ID_BITS 11
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#define CAN_EFF_ID_BITS 29
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/* special address description flags for the CAN_ID */
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#define CAN_EFF_FLAG 0x80000000U /* EFF/SFF is set in the MSB */
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#define CAN_RTR_FLAG 0x40000000U /* remote transmission request */
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#define CAN_ERR_FLAG 0x20000000U /* error message frame */
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/* valid bits in CAN ID for frame formats */
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#define CAN_SFF_MASK 0x000007FFU /* standard frame format (SFF) */
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#define CAN_EFF_MASK 0x1FFFFFFFU /* extended frame format (EFF) */
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#define CAN_ERR_MASK 0x1FFFFFFFU /* omit EFF, RTR, ERR flags */
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/* Frame type */
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#define STANDARD_FRAME 0 /* standard frame */
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#define EXTEND_FRAME 1 /* extended frame */
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/* Bit timing calculate */
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#define CAN_CALC_MAX_ERROR 50 /* in one-tenth of a percent */
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#define CAN_CALC_SYNC_SEG 1
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/* can segment type */
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typedef enum
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{
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FCAN_ARB_SEGMENT = 0, /* Arbitration segment */
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FCAN_DATA_SEGMENT = 1, /* Data segment */
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FCAN_SEGMENT_TYPE_NUM
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} FCanSegmentType;
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/* Can error status bit mask */
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#define FCAN_BUS_ERROR_MASK 1
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#define FCAN_PASSIVE_ERROR_MASK 2
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#define FCAN_PASSIVE_WARNING_MASK 4
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#define FCAN_FIFO_RX_OVERFLOW_MASK 8
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/* Can frame select */
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#define FCAN_STANDARD_FRAME 0
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#define FCAN_EXTENDARD_FRAME 1
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/* can baudrate */
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#define FCAN_BAUDRATE_10K 10000
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#define FCAN_BAUDRATE_50K 50000
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#define FCAN_BAUDRATE_100K 100000
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#define FCAN_BAUDRATE_200K 200000
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#define FCAN_BAUDRATE_250K 250000
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#define FCAN_BAUDRATE_500K 500000
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#define FCAN_BAUDRATE_1000K 1000000
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#define FCAN_BAUDRATE_2000K 2000000
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#define FCAN_BAUDRATE_3000K 3000000
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#define FCAN_BAUDRATE_4000K 4000000
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#define FCAN_BAUDRATE_5000K 5000000
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/*
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* defined bits for FCanFrame.flags
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*
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* The use of struct FCanFrame implies the Extended Data Length (EDL) bit to
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* be set in the CAN frame bitstream on the wire. The EDL bit switch turns
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* the CAN controllers bitstream processor into the CAN FD mode which creates
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* two new options within the CAN FD frame specification:
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*
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* Bit Rate Switch - to indicate a second baudrate is/was used for the payload
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* Error State Indicator - represents the error state of the transmitting node
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*
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* As the CANFD_ESI bit is internally generated by the transmitting CAN
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* controller only the CANFD_BRS bit is relevant for real CAN controllers when
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* building a CAN FD frame for transmission. Setting the CANFD_ESI bit can make
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* sense for virtual CAN interfaces to test applications with echoed frames.
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*/
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#define CANFD_BRS 0x02 /* bit rate switch (second baudrate for payload data) */
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#define CANFD_ESI 0x04 /* error state indicator of the transmitting node */
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typedef void (*FCanIntrEventHandler)(void *param);
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typedef struct
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{
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FCanIntrEventType type;
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FCanIntrEventHandler handler;
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void *param;
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} FCanIntrEventConfig;
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typedef struct
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{
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u32 filter_index;/* filter register index*/
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u32 id; /* id bit to receive */
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u32 mask;/* id mask bit to receive */
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u32 type;/* frame type, standard or extended*/
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} FCanIdMaskConfig;
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typedef struct
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{
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u32 canid;/* can frame id */
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u8 candlc;/* can frame length */
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u8 flags; /* additional flags for CAN FD */
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u8 data[FCAN_DATA_LENGTH] __attribute__((aligned(8)));
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} FCanFrame;
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typedef struct
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{
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u32 instance_id; /* Id of device */
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uintptr base_address; /* Can base Address */
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u32 irq_num; /* interrupt number */
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u32 irq_prority;/* interrupt priority*/
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} FCanConfig;
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typedef struct
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{
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FCanSegmentType segment;
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boolean auto_calc; /* if auto calculate baudrate parameters */
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u32 baudrate; /* baudrate */
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u32 sample_point; /* sample point */
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u32 prop_seg; /* Propagation segment in TQs */
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u32 phase_seg1; /* Phase buffer segment 1 in TQs */
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u32 phase_seg2; /* Phase buffer segment 2 in TQs */
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u32 sjw; /* Synchronisation jump width in TQs */
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u32 brp; /* Baudrate prescaler */
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} FCanBaudrateConfig;
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typedef struct
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{
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u8 xfers;/* transfer status */
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u8 rs; /* receive status */
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u8 ts; /* transmit status */
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u8 fies; /* Current status of the controller state machine */
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u8 fras; /* Frame tagging status */
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} FCanXferStatus;
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typedef struct
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{
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FCanXferStatus xfer_status;
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u32 tx_err_cnt;
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u32 rx_err_cnt;
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u32 tx_fifo_cnt;
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u32 rx_fifo_cnt;
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} FCanStatus;
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typedef struct
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{
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FCanConfig config;
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u32 is_ready; /* Device is initialized and ready */
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boolean use_canfd; /* if use canfd function */
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FCanIntrEventConfig intr_event[FCAN_INTR_EVENT_NUM];/* event handler and parameters for interrupt */
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} FCanCtrl;
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/* get default configuration of specific can id */
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const FCanConfig *FCanLookupConfig(FCanInstance instance_id);
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/* reset a specific can instance */
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void FCanReset(FCanCtrl *instance_p);
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/* Deinitializes a specific can instance */
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void FCanDeInitialize(FCanCtrl *instance_p);
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/* Initializes a specific can instance */
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FError FCanCfgInitialize(FCanCtrl *instance_p, const FCanConfig *input_config_p);
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/* Set the fcan baudrate */
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FError FCanBaudrateSet(FCanCtrl *instance_p, FCanBaudrateConfig *baudrate_p);
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/* interrupt handler for the driver */
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void FCanIntrHandler(s32 vector, void *args);
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/* register FCanCtrl interrupt handler function */
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void FCanRegisterInterruptHandler(FCanCtrl *instance_p, FCanIntrEventConfig *intr_event_p);
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/* receive can message by specific can instance */
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FError FCanRecv(FCanCtrl *instance_p, FCanFrame *frame_p);
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/* send can message by specific can instance */
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FError FCanSend(FCanCtrl *instance_p, FCanFrame *frame_p);
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/* Enable the specific can instance */
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FError FCanEnable(FCanCtrl *instance_p, boolean enable);
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/* read can status, include send and receive error count */
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FError FCanStatusGet(FCanCtrl *instance_p, FCanStatus *status_p);
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/* Set the can mask and umask id */
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FError FCanIdMaskFilterSet(FCanCtrl *instance_p, FCanIdMaskConfig *id_mask_p);
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/* Set the can id mask filter enable */
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void FCanIdMaskFilterEnable(FCanCtrl *instance_p);
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/* Set the can id mask filter disable */
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void FCanIdMaskFilterDisable(FCanCtrl *instance_p);
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/* Enable can interrupt */
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FError FCanInterruptEnable(FCanCtrl *instance_p, FCanIntrEventType event_type);
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/* Enable or disable can fd */
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FError FCanFdEnable(FCanCtrl *instance_p, boolean enable);
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#endif // !FT_CAN_H
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