749 lines
21 KiB
C
749 lines
21 KiB
C
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/**************************************************************************//**
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*
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* @copyright (C) 2020 Nuvoton Technology Corp. All rights reserved.
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Change Logs:
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* Date Author Notes
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* 2022-4-27 Wayne First version
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*
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******************************************************************************/
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#include <rtconfig.h>
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#if defined(BSP_USING_CANFD)
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#include <rtdevice.h>
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#include <rthw.h>
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#include "NuMicro.h"
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#include "nu_bitutil.h"
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#define LOG_TAG "drv.canfd"
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#undef DBG_ENABLE
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#define DBG_SECTION_NAME LOG_TAG
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#define DBG_LEVEL LOG_LVL_ERROR
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#define DBG_COLOR
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#include <rtdbg.h>
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/* Private Define ---------------------------------------------------------------*/
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#define IS_CAN_STDID(STDID) ((STDID) <= 0x7FFU)
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#define IS_CAN_EXTID(EXTID) ((EXTID) <= 0x1FFFFFFFU)
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#define IS_CAN_DLC(DLC) ((DLC) <= 8U)
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/* Default config for serial_configure structure */
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#define NU_CANFD_CONFIG_DEFAULT \
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{ \
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CAN1MBaud, /* 1M bits/s */ \
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RT_CANMSG_BOX_SZ, /* message box max size */ \
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RT_CANSND_BOX_NUM, /* message box number */ \
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RT_CAN_MODE_NORMAL, /* Normal mode */ \
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0, /* privmode */ \
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0, /* reserved */ \
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100, /* Timeout Tick */ \
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}
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enum
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{
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CANFD_START = -1,
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#if defined(BSP_USING_CANFD0)
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CANFD0_IDX,
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#endif
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#if defined(BSP_USING_CANFD1)
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CANFD1_IDX,
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#endif
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#if defined(BSP_USING_CANFD2)
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CANFD2_IDX,
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#endif
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#if defined(BSP_USING_CANFD3)
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CANFD3_IDX,
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#endif
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CANFD_CNT
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};
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/* Private Typedef --------------------------------------------------------------*/
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struct nu_canfd
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{
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struct rt_can_device dev;
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char *name;
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CANFD_T *base;
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uint32_t rstidx;
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IRQn_Type irqn0;
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IRQn_Type irqn1;
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uint32_t int_flag;
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CANFD_FD_T sCANFD_Config;
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};
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typedef struct nu_canfd *nu_canfd_t;
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/* Private functions ------------------------------------------------------------*/
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static rt_err_t nu_canfd_configure(struct rt_can_device *can, struct can_configure *cfg);
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static rt_err_t nu_canfd_control(struct rt_can_device *can, int cmd, void *arg);
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static int nu_canfd_sendmsg(struct rt_can_device *can, const void *buf, rt_uint32_t boxno);
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static int nu_canfd_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t boxno);
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static void nu_canfd_isr(nu_canfd_t can);
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static struct nu_canfd nu_canfd_arr[] =
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{
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#if defined(BSP_USING_CANFD0)
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{
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.name = "canfd0",
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.base = CANFD0,
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.rstidx = CANFD0_RST,
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.irqn0 = CANFD00_IRQn,
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.irqn1 = CANFD01_IRQn,
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},
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#endif
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#if defined(BSP_USING_CANFD1)
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{
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.name = "canfd1",
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.base = CANFD1,
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.rstidx = CANFD1_RST,
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.irqn0 = CANFD10_IRQn,
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.irqn1 = CANFD11_IRQn,
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},
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#endif
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#if defined(BSP_USING_CANFD2)
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{
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.name = "canfd2",
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.base = CANFD2,
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.rstidx = CANFD2_RST,
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.irqn0 = CANFD20_IRQn,
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.irqn1 = CANFD21_IRQn,
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},
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#endif
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#if defined(BSP_USING_CANFD3)
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{
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.name = "canfd3",
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.base = CANFD3,
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.rstidx = CANFD3_RST,
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.irqn0 = CANFD30_IRQn,
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.irqn1 = CANFD31_IRQn,
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},
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#endif
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}; /* struct nu_can */
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/* Public functions ------------------------------------------------------------*/
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/* Private variables ------------------------------------------------------------*/
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static const struct rt_can_ops nu_canfd_ops =
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{
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.configure = nu_canfd_configure,
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.control = nu_canfd_control,
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.sendmsg = nu_canfd_sendmsg,
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.recvmsg = nu_canfd_recvmsg,
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};
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static const struct can_configure nu_canfd_default_config = NU_CANFD_CONFIG_DEFAULT;
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/* Interrupt Handle Function ----------------------------------------------------*/
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#if defined(BSP_USING_CANFD0)
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/* CAN0 interrupt entry */
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void CANFD00_IRQHandler(void)
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{
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/* enter interrupt */
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rt_interrupt_enter();
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nu_canfd_isr(&nu_canfd_arr[CANFD0_IDX]);
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/* leave interrupt */
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rt_interrupt_leave();
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}
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void CANFD01_IRQHandler(void)
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{
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/* enter interrupt */
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rt_interrupt_enter();
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nu_canfd_isr(&nu_canfd_arr[CANFD0_IDX]);
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/* leave interrupt */
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rt_interrupt_leave();
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}
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#endif
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#if defined(BSP_USING_CANFD1)
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void CANFD10_IRQHandler(void)
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{
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/* enter interrupt */
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rt_interrupt_enter();
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nu_canfd_isr(&nu_canfd_arr[CANFD1_IDX]);
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/* leave interrupt */
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rt_interrupt_leave();
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}
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void CANFD11_IRQHandler(void)
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{
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/* enter interrupt */
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rt_interrupt_enter();
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nu_canfd_isr(&nu_canfd_arr[CANFD1_IDX]);
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/* leave interrupt */
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rt_interrupt_leave();
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}
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#endif
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#if defined(BSP_USING_CANFD2)
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void CANFD20_IRQHandler(void)
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{
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/* enter interrupt */
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rt_interrupt_enter();
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nu_canfd_isr(&nu_canfd_arr[CANFD2_IDX]);
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/* leave interrupt */
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rt_interrupt_leave();
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}
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void CANFD21_IRQHandler(void)
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{
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/* enter interrupt */
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rt_interrupt_enter();
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nu_canfd_isr(&nu_canfd_arr[CANFD2_IDX]);
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/* leave interrupt */
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rt_interrupt_leave();
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}
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#endif
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#if defined(BSP_USING_CANFD3)
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void CANFD30_IRQHandler(void)
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{
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/* enter interrupt */
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rt_interrupt_enter();
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nu_canfd_isr(&nu_canfd_arr[CANFD3_IDX]);
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/* leave interrupt */
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rt_interrupt_leave();
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}
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void CANFD31_IRQHandler(void)
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{
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/* enter interrupt */
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rt_interrupt_enter();
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nu_canfd_isr(&nu_canfd_arr[CANFD3_IDX]);
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/* leave interrupt */
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rt_interrupt_leave();
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}
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#endif
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/* Private Variables ------------------------------------------------------------*/
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const char *szIR[] =
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{
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"CANFD_IR_RF0N - Rx FIFO 0 New Message",
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"CANFD_IR_RF0W - Rx FIFO 0 Watermark Reached",
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"CANFD_IR_RF0F - Rx FIFO 0 Full",
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"CANFD_IR_RF0L - Rx FIFO 0 Message Lost",
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"CANFD_IR_RF1N - Rx FIFO 1 New Message",
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"CANFD_IR_RF1W - Rx FIFO 1 Watermark Reached",
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"CANFD_IR_RF1F - Rx FIFO 1 Full",
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"CANFD_IR_RF1L - Rx FIFO 1 Message Lost",
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"CANFD_IR_HPM - High Priority Message",
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"CANFD_IR_TC - Transmission Completed",
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"CANFD_IR_TCF - Transmission Cancellation Finished",
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"CANFD_IR_TFE - Tx FIFO Empty",
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"CANFD_IR_TEFN - Tx Event FIFO New Entry",
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"CANFD_IR_TEFW - Tx Event FIFO Watermark Reached",
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"CANFD_IR_TEFF - Tx Event FIFO Full",
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"CANFD_IR_TEFL - Tx Event FIFO Event Lost",
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"CANFD_IR_TSW - Timestamp Wraparound",
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"CANFD_IR_MRAF - Message RAM Access Failure",
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"CANFD_IR_TOO - Timeout Occurred",
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"CANFD_IR_DRX - Message stored to Dedicated Rx Buffer",
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"BIT20",
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"BIT21",
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"CANFD_IR_ELO - Error Logging Overflow",
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"CANFD_IR_EP - Error Passive",
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"CANFD_IR_EW - Warning Status",
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"CANFD_IR_BO - Bus_Off Status",
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"CANFD_IR_WDI - Watchdog",
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"CANFD_IR_PEA - Protocol Error in Arbitration Phase",
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"CANFD_IR_PED - Protocol Error in Data Phase",
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"CANFD_IR_ARA - Access to Reserved Address",
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"BIT30",
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"BIT31"
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};
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static void dump_interrupt_event(uint32_t u32Status)
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{
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uint32_t idx;
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while ((idx = nu_ctz(u32Status)) < 32) // Count Trailing Zeros ==> Find First One
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{
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LOG_D("[%s]", szIR[idx]);
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u32Status &= ~(1 << idx);
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}
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}
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static void nu_canfd_isr(nu_canfd_t psNuCANFD)
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{
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/* Get base address of CAN register */
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CANFD_T *base = psNuCANFD->base;
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/* Get interrupt status */
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uint32_t u32Status = base->IR;
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CANFD_ClearStatusFlag(base, u32Status);
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/* Dump IR event */
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dump_interrupt_event(u32Status);
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/* Check Status Interrupt Flag (Error status Int and Status change Int) */
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/**************************/
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/* Status Change interrupt*/
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/**************************/
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if (u32Status & CANFD_IR_TC_Msk)
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{
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if (psNuCANFD->int_flag & RT_DEVICE_FLAG_INT_TX)
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{
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rt_hw_can_isr(&psNuCANFD->dev, RT_CAN_EVENT_TX_DONE);
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}
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}
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if (u32Status & (CANFD_IR_RF0N_Msk | CANFD_IR_RF1N_Msk))
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{
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if (psNuCANFD->int_flag & RT_DEVICE_FLAG_INT_RX)
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{
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rt_hw_can_isr(&psNuCANFD->dev, RT_CAN_EVENT_RX_IND);
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}
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}
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if (u32Status & (CANFD_IR_RF0L_Msk | CANFD_IR_RF1L_Msk))
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{
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rt_hw_can_isr(&psNuCANFD->dev, RT_CAN_EVENT_RXOF_IND);
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}
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if (u32Status & (CANFD_IR_TEFF_Msk | CANFD_IR_TOO_Msk))
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{
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rt_hw_can_isr(&psNuCANFD->dev, RT_CAN_EVENT_TX_FAIL);
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}
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/**************************/
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/* Error Status interrupt */
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/**************************/
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if (u32Status & CANFD_IR_EW_Msk)
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{
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LOG_E("[%s]EWARN", psNuCANFD->name) ;
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}
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if (u32Status & CANFD_IR_BO_Msk)
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{
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LOG_E("[%s]BUSOFF", psNuCANFD->name) ;
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/* To release busoff pin */
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}
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if (u32Status & CANFD_IR_PED_Msk)
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{
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LOG_E("[%s] LEC: %03x\n", psNuCANFD->name, base->PSR & CANFD_PSR_LEC_Msk) ;
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}
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}
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static void nu_canfd_ie(nu_canfd_t psNuCANFD)
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{
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uint32_t u32CanFDIE = CANFD_IE_BOE_Msk;
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if (psNuCANFD->int_flag & (RT_DEVICE_FLAG_INT_RX))
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{
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/* Rx FIFO 0 New Message Interrupt */
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u32CanFDIE |= (CANFD_IE_RF0NE_Msk | CANFD_IE_RF1NE_Msk);
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}
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if (psNuCANFD->int_flag & (RT_DEVICE_FLAG_INT_TX))
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{
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/* Transmission Completed Interrupt */
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/* Timeout Occurred Interrupt */
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u32CanFDIE |= (CANFD_IE_TCE_Msk | CANFD_IE_TEFNE_Msk);
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}
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if (psNuCANFD->int_flag & RT_DEVICE_CAN_INT_ERR)
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{
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/* Bus_Off Status Interrupt */
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/* Warning Status Interrupt */
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/* Error Passive Interrupt */
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/* Error Logging Overflow Interrupt */
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/* Protocol Error in Data Phase interrupt Indicator */
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u32CanFDIE |= (CANFD_IE_EPE_Msk | CANFD_IE_EWE_Msk | CANFD_IE_ELOE_Msk | CANFD_IE_TOOE_Msk | CANFD_IR_PED_Msk);
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}
|
||
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//u32CanFDIE = 0xffffffff;
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CANFD_EnableInt(psNuCANFD->base, u32CanFDIE, 0,
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||
|
|
(psNuCANFD->int_flag & (RT_DEVICE_FLAG_INT_TX)) ? CANFD_TXBTIE_TIEn_Msk : 0,
|
||
|
|
(psNuCANFD->int_flag & (RT_DEVICE_FLAG_INT_TX)) ? CANFD_TXBCIE_CFIEn_Msk : 0);
|
||
|
|
}
|
||
|
|
|
||
|
|
static rt_err_t nu_canfd_configure(struct rt_can_device *can, struct can_configure *cfg)
|
||
|
|
{
|
||
|
|
nu_canfd_t psNuCANFD = (nu_canfd_t)can;
|
||
|
|
CANFD_FD_T *psCANFDConf;
|
||
|
|
|
||
|
|
RT_ASSERT(can);
|
||
|
|
RT_ASSERT(cfg);
|
||
|
|
|
||
|
|
psCANFDConf = &psNuCANFD->sCANFD_Config;
|
||
|
|
|
||
|
|
/* Get base address of CAN register */
|
||
|
|
CANFD_T *base = psNuCANFD->base;
|
||
|
|
|
||
|
|
CANFD_GetDefaultConfig(psCANFDConf, CANFD_OP_CAN_MODE);
|
||
|
|
|
||
|
|
LOG_I("Message Ram Size: %d @%08x ~ %08x", psCANFDConf->u32MRamSize, CANFD_SRAM_BASE_ADDR(base), psCANFDConf->u32MRamSize + CANFD_SRAM_BASE_ADDR(base));
|
||
|
|
LOG_I("SIDFC: %d @%08x Size:%d", psCANFDConf->sElemSize.u32SIDFC, CANFD_SRAM_BASE_ADDR(base) + psCANFDConf->sMRamStartAddr.u32SIDFC_FLSSA, psCANFDConf->sElemSize.u32SIDFC * sizeof(CANFD_STD_FILTER_T));
|
||
|
|
LOG_I("XIDFC: %d @%08x Size:%d", psCANFDConf->sElemSize.u32XIDFC, CANFD_SRAM_BASE_ADDR(base) + psCANFDConf->sMRamStartAddr.u32XIDFC_FLESA, psCANFDConf->sElemSize.u32XIDFC * sizeof(CANFD_EXT_FILTER_T));
|
||
|
|
LOG_I("RxFifo0: %d @%08x Size:%d", psCANFDConf->sElemSize.u32RxFifo0, CANFD_SRAM_BASE_ADDR(base) + psCANFDConf->sMRamStartAddr.u32RXF0C_F0SA, psCANFDConf->sElemSize.u32RxFifo0 * sizeof(CANFD_BUF_T));
|
||
|
|
LOG_I("RxFifo1: %d @%08x Size:%d", psCANFDConf->sElemSize.u32RxFifo1, CANFD_SRAM_BASE_ADDR(base) + psCANFDConf->sMRamStartAddr.u32RXF1C_F1SA, psCANFDConf->sElemSize.u32RxFifo1 * sizeof(CANFD_BUF_T));
|
||
|
|
LOG_I("RxBuf: %d @%08x Size:%d", psCANFDConf->sElemSize.u32RxBuf, CANFD_SRAM_BASE_ADDR(base) + psCANFDConf->sMRamStartAddr.u32RXBC_RBSA, psCANFDConf->sElemSize.u32RxBuf * sizeof(CANFD_BUF_T));
|
||
|
|
LOG_I("TxEventFifo: %d @%08x Size:%d", psCANFDConf->sElemSize.u32TxEventFifo, CANFD_SRAM_BASE_ADDR(base) + psCANFDConf->sMRamStartAddr.u32TXEFC_EFSA, psCANFDConf->sElemSize.u32TxEventFifo * sizeof(CANFD_EXT_FILTER_T));
|
||
|
|
LOG_I("TxBuf: %d @%08x Size:%d", psCANFDConf->sElemSize.u32TxBuf, CANFD_SRAM_BASE_ADDR(base) + psCANFDConf->sMRamStartAddr.u32TXBC_TBSA, psCANFDConf->sElemSize.u32TxBuf * sizeof(CANFD_BUF_T));
|
||
|
|
|
||
|
|
psCANFDConf->sBtConfig.sNormBitRate.u32BitRate = cfg->baud_rate;
|
||
|
|
psCANFDConf->sBtConfig.sDataBitRate.u32BitRate = 0;
|
||
|
|
|
||
|
|
LOG_I("CAN Baud rate: %d bps", cfg->baud_rate);
|
||
|
|
|
||
|
|
switch (cfg->mode)
|
||
|
|
{
|
||
|
|
case RT_CAN_MODE_NORMAL: // Normal
|
||
|
|
psCANFDConf->sBtConfig.evTestMode = eCANFD_NORMAL;
|
||
|
|
break;
|
||
|
|
|
||
|
|
case RT_CAN_MODE_LISTEN: // Bus monitor Mode, can't start a transmission
|
||
|
|
psCANFDConf->sBtConfig.evTestMode = eCANFD_BUS_MONITOR;
|
||
|
|
break;
|
||
|
|
|
||
|
|
case RT_CAN_MODE_LOOPBACK: // Test - Internal loopback
|
||
|
|
psCANFDConf->sBtConfig.evTestMode = eCANFD_LOOPBACK_INTERNAL;
|
||
|
|
break;
|
||
|
|
|
||
|
|
case RT_CAN_MODE_LOOPBACKANLISTEN:
|
||
|
|
default:
|
||
|
|
rt_kprintf("Unsupported Operating mode\n");
|
||
|
|
goto exit_nu_canfd_configure;
|
||
|
|
}
|
||
|
|
|
||
|
|
/*Set the CAN Bit Rate and Operating mode*/
|
||
|
|
CANFD_Open(base, psCANFDConf);
|
||
|
|
|
||
|
|
/* Set FIFO policy */
|
||
|
|
#if defined(RT_CAN_USING_HDR)
|
||
|
|
/* Whitelist filtering */
|
||
|
|
CANFD_SetGFC(base, eCANFD_REJ_NON_MATCH_FRM, eCANFD_REJ_NON_MATCH_FRM, 0, 0);
|
||
|
|
#else
|
||
|
|
/* Blacklist filtering. */
|
||
|
|
CANFD_SetGFC(base, eCANFD_ACC_NON_MATCH_FRM_RX_FIFO0, eCANFD_ACC_NON_MATCH_FRM_RX_FIFO0, 0, 0);
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/* Enable interrupt */
|
||
|
|
nu_canfd_ie(psNuCANFD);
|
||
|
|
|
||
|
|
//LOG_HEX("canfd", 16, (void *)base, sizeof(CANFD_T));
|
||
|
|
|
||
|
|
/* Lock protected registers & Run */
|
||
|
|
CANFD_RunToNormal(base, TRUE);
|
||
|
|
|
||
|
|
return RT_EOK;
|
||
|
|
|
||
|
|
exit_nu_canfd_configure:
|
||
|
|
|
||
|
|
CANFD_Close(base);
|
||
|
|
|
||
|
|
return -(RT_ERROR);
|
||
|
|
}
|
||
|
|
|
||
|
|
static rt_err_t nu_canfd_control(struct rt_can_device *can, int cmd, void *arg)
|
||
|
|
{
|
||
|
|
rt_uint32_t argval = (rt_uint32_t)arg;
|
||
|
|
nu_canfd_t psNuCANFD = (nu_canfd_t)can;
|
||
|
|
|
||
|
|
RT_ASSERT(can);
|
||
|
|
|
||
|
|
switch (cmd)
|
||
|
|
{
|
||
|
|
case RT_DEVICE_CTRL_SET_INT:
|
||
|
|
psNuCANFD->int_flag |= argval;
|
||
|
|
return nu_canfd_configure(can, &can->config);
|
||
|
|
|
||
|
|
case RT_DEVICE_CTRL_CLR_INT:
|
||
|
|
psNuCANFD->int_flag &= ~argval;
|
||
|
|
return nu_canfd_configure(can, &can->config);
|
||
|
|
|
||
|
|
#if defined(RT_CAN_USING_HDR)
|
||
|
|
case RT_CAN_CMD_SET_FILTER:
|
||
|
|
{
|
||
|
|
struct rt_can_filter_config *filter_cfg = (struct rt_can_filter_config *)arg;
|
||
|
|
|
||
|
|
RT_ASSERT(filter_cfg);
|
||
|
|
|
||
|
|
for (int i = 0; i < filter_cfg->count; i++)
|
||
|
|
{
|
||
|
|
uint32_t u32FEC = (filter_cfg->items[i].mode == RT_CAN_MODE_PRIV) ? eCANFD_FLTR_ELEM_SET_PRI_STO_FIFO0 : eCANFD_FLTR_ELEM_STO_FIFO0;
|
||
|
|
|
||
|
|
/* Set the filter rule */
|
||
|
|
if (filter_cfg->items[i].ide == RT_CAN_STDID)
|
||
|
|
{
|
||
|
|
/* for 11-bit */
|
||
|
|
CANFD_STD_FILTER_T sStdFilter;
|
||
|
|
|
||
|
|
if (i >= CANFD_MAX_11_BIT_FTR_ELEMS) // Check filter entry limitation
|
||
|
|
return -(RT_ERROR);
|
||
|
|
|
||
|
|
sStdFilter.SFID2 = filter_cfg->items[i].mask; /*!<Standard Filter ID 2. */ //mask
|
||
|
|
sStdFilter.SFID1 = filter_cfg->items[i].id; /*!<Standard Filter ID 1. */ //filter
|
||
|
|
sStdFilter.SFEC = u32FEC; /*!<Standard Filter Element Configuration */ //001b: Store in Rx FIFO 0 if filter matches
|
||
|
|
sStdFilter.SFT = eCANFD_SID_FLTR_TYPE_CLASSIC; /*!<Standard Filter Type */ //10b: Classic filter: SFID1 = filter, SFID2 = mask
|
||
|
|
|
||
|
|
CANFD_SetSIDFltr(psNuCANFD->base, i, sStdFilter.VALUE);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
/* for 29-bit */
|
||
|
|
CANFD_EXT_FILTER_T sXidFilter;
|
||
|
|
|
||
|
|
if (i >= CANFD_MAX_29_BIT_FTR_ELEMS) // Check filter entry limitation
|
||
|
|
return -(RT_ERROR);
|
||
|
|
|
||
|
|
sXidFilter.EFID1 = filter_cfg->items[i].mask; /*!<Extended Filter ID 2. */ //mask
|
||
|
|
sXidFilter.EFID2 = filter_cfg->items[i].id; /*!<Extended Filter ID 1. */ //filter
|
||
|
|
sXidFilter.EFEC = u32FEC; /*!<Extended Filter Element Configuration */ //001b: Store in Rx FIFO 0 if filter matches
|
||
|
|
sXidFilter.EFT = eCANFD_XID_FLTR_TYPE_CLASSIC; /*!<Extended Filter Type */ //10b: Classic filter: SFID1 = filter, SFID2 = mask
|
||
|
|
|
||
|
|
CANFD_SetXIDFltr(psNuCANFD->base, i, sXidFilter.LOWVALUE, sXidFilter.HIGHVALUE);
|
||
|
|
}
|
||
|
|
|
||
|
|
} //for (int i = 0; i < filter_cfg->count; i++)
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
#endif
|
||
|
|
|
||
|
|
case RT_CAN_CMD_SET_MODE:
|
||
|
|
if ((argval == RT_CAN_MODE_NORMAL) ||
|
||
|
|
(argval == RT_CAN_MODE_LISTEN) ||
|
||
|
|
(argval == RT_CAN_MODE_LOOPBACK) ||
|
||
|
|
(argval == RT_CAN_MODE_LOOPBACKANLISTEN))
|
||
|
|
{
|
||
|
|
if (argval != can->config.mode)
|
||
|
|
{
|
||
|
|
can->config.mode = argval;
|
||
|
|
return nu_canfd_configure(can, &can->config);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
return -(RT_ERROR);
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
|
||
|
|
case RT_CAN_CMD_SET_BAUD:
|
||
|
|
{
|
||
|
|
if ((argval == CAN1MBaud) ||
|
||
|
|
(argval == CAN800kBaud) ||
|
||
|
|
(argval == CAN500kBaud) ||
|
||
|
|
(argval == CAN250kBaud) ||
|
||
|
|
(argval == CAN125kBaud) ||
|
||
|
|
(argval == CAN100kBaud) ||
|
||
|
|
(argval == CAN50kBaud) ||
|
||
|
|
(argval == CAN20kBaud) ||
|
||
|
|
(argval == CAN10kBaud))
|
||
|
|
{
|
||
|
|
if (argval != can->config.baud_rate)
|
||
|
|
{
|
||
|
|
can->config.baud_rate = argval;
|
||
|
|
return nu_canfd_configure(can, &can->config);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
return -(RT_ERROR);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
|
||
|
|
case RT_CAN_CMD_SET_PRIV:
|
||
|
|
if (argval != RT_CAN_MODE_PRIV &&
|
||
|
|
argval != RT_CAN_MODE_NOPRIV)
|
||
|
|
{
|
||
|
|
return -(RT_ERROR);
|
||
|
|
}
|
||
|
|
if (argval != can->config.privmode)
|
||
|
|
{
|
||
|
|
can->config.privmode = argval;
|
||
|
|
return nu_canfd_configure(can, &can->config);
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
|
||
|
|
case RT_CAN_CMD_GET_STATUS:
|
||
|
|
{
|
||
|
|
rt_uint32_t u32ErrCounter = psNuCANFD->base->ECR;
|
||
|
|
rt_uint32_t u32ProtocolStatus = psNuCANFD->base->PSR;
|
||
|
|
|
||
|
|
RT_ASSERT(arg);
|
||
|
|
|
||
|
|
/*Receive Error Counter, return value is with Receive Error Passive.*/
|
||
|
|
can->status.rcverrcnt = ((u32ErrCounter & CANFD_ECR_REC_Msk) >> CANFD_ECR_REC_Pos);
|
||
|
|
|
||
|
|
/*Transmit Error Counter*/
|
||
|
|
can->status.snderrcnt = ((u32ErrCounter & CANFD_ECR_TEC_Msk) >> CANFD_ECR_TEC_Pos);
|
||
|
|
|
||
|
|
/*Last Error Type*/
|
||
|
|
can->status.lasterrtype = ((u32ProtocolStatus & CANFD_PSR_LEC_Msk) >> CANFD_PSR_LEC_Pos);
|
||
|
|
|
||
|
|
/*Status error code*/
|
||
|
|
can->status.errcode = (u32ProtocolStatus & CANFD_PSR_EW_Msk) ? 1 :
|
||
|
|
(u32ProtocolStatus & CANFD_PSR_EP_Msk) ? 2 :
|
||
|
|
(u32ProtocolStatus & CANFD_PSR_BO_Msk) ? 3 :
|
||
|
|
0;
|
||
|
|
|
||
|
|
rt_memcpy(arg, &can->status, sizeof(struct rt_can_status));
|
||
|
|
}
|
||
|
|
break;
|
||
|
|
|
||
|
|
default:
|
||
|
|
return -(RT_EINVAL);
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
return RT_EOK;
|
||
|
|
}
|
||
|
|
|
||
|
|
static int nu_canfd_sendmsg(struct rt_can_device *can, const void *buf, rt_uint32_t boxno)
|
||
|
|
{
|
||
|
|
CANFD_FD_MSG_T sTxMsg;
|
||
|
|
struct rt_can_msg *pmsg;
|
||
|
|
nu_canfd_t psNuCANFD = (nu_canfd_t)can;
|
||
|
|
|
||
|
|
RT_ASSERT(can);
|
||
|
|
RT_ASSERT(buf);
|
||
|
|
|
||
|
|
pmsg = (struct rt_can_msg *) buf;
|
||
|
|
|
||
|
|
if (pmsg->ide == RT_CAN_STDID && IS_CAN_STDID(pmsg->id))
|
||
|
|
{
|
||
|
|
/* Standard ID (11 bits)*/
|
||
|
|
sTxMsg.u32Id = pmsg->id;
|
||
|
|
sTxMsg.eIdType = eCANFD_SID;
|
||
|
|
}
|
||
|
|
else if (pmsg->ide == RT_CAN_EXTID && IS_CAN_EXTID(pmsg->id))
|
||
|
|
{
|
||
|
|
/* Extended ID (29 bits)*/
|
||
|
|
sTxMsg.u32Id = pmsg->id;
|
||
|
|
sTxMsg.eIdType = eCANFD_XID;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
goto exit_nu_canfd_sendmsg;
|
||
|
|
}
|
||
|
|
|
||
|
|
sTxMsg.bBitRateSwitch = 0;
|
||
|
|
|
||
|
|
if (pmsg->rtr == RT_CAN_DTR)
|
||
|
|
{
|
||
|
|
/* Data frame */
|
||
|
|
sTxMsg.eFrmType = eCANFD_DATA_FRM;
|
||
|
|
}
|
||
|
|
else if (pmsg->rtr == RT_CAN_RTR)
|
||
|
|
{
|
||
|
|
/* Remote frame */
|
||
|
|
sTxMsg.eFrmType = eCANFD_REMOTE_FRM;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
goto exit_nu_canfd_sendmsg;
|
||
|
|
}
|
||
|
|
|
||
|
|
/* Check the parameters */
|
||
|
|
if (IS_CAN_DLC(pmsg->len))
|
||
|
|
{
|
||
|
|
sTxMsg.u32DLC = pmsg->len;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
goto exit_nu_canfd_sendmsg;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (pmsg->len > 0)
|
||
|
|
{
|
||
|
|
rt_memcpy(&sTxMsg.au8Data[0], pmsg->data, pmsg->len);
|
||
|
|
}
|
||
|
|
|
||
|
|
if (!CANFD_TransmitTxMsg(psNuCANFD->base, 0, &sTxMsg))
|
||
|
|
{
|
||
|
|
goto exit_nu_canfd_sendmsg;
|
||
|
|
}
|
||
|
|
|
||
|
|
return RT_EOK;
|
||
|
|
|
||
|
|
exit_nu_canfd_sendmsg:
|
||
|
|
|
||
|
|
return -(RT_ERROR);
|
||
|
|
}
|
||
|
|
|
||
|
|
static int nu_canfd_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t boxno)
|
||
|
|
{
|
||
|
|
CANFD_FD_MSG_T sRxMsg;
|
||
|
|
struct rt_can_msg *pmsg;
|
||
|
|
nu_canfd_t psNuCANFD = (nu_canfd_t)can;
|
||
|
|
|
||
|
|
RT_ASSERT(can);
|
||
|
|
RT_ASSERT(buf);
|
||
|
|
|
||
|
|
pmsg = (struct rt_can_msg *) buf;
|
||
|
|
|
||
|
|
/* get data */
|
||
|
|
if (CANFD_ReadRxFifoMsg(psNuCANFD->base, 0, &sRxMsg) == FALSE)
|
||
|
|
{
|
||
|
|
rt_kprintf("No available RX Msg.\n");
|
||
|
|
return -(RT_ERROR);
|
||
|
|
}
|
||
|
|
|
||
|
|
#ifdef RT_CAN_USING_HDR
|
||
|
|
/* Hardware filter messages are valid */
|
||
|
|
pmsg->hdr = boxno;
|
||
|
|
can->hdr[pmsg->hdr].connected = 1;
|
||
|
|
#endif
|
||
|
|
|
||
|
|
pmsg->ide = (sRxMsg.eIdType == eCANFD_SID) ? RT_CAN_STDID : RT_CAN_EXTID;
|
||
|
|
pmsg->rtr = (sRxMsg.eFrmType == eCANFD_DATA_FRM) ? RT_CAN_DTR : RT_CAN_RTR;
|
||
|
|
pmsg->id = sRxMsg.u32Id;
|
||
|
|
pmsg->len = sRxMsg.u32DLC;
|
||
|
|
|
||
|
|
if (pmsg->len > 0)
|
||
|
|
rt_memcpy(&pmsg->data[0], &sRxMsg.au8Data[0], pmsg->len);
|
||
|
|
|
||
|
|
return RT_EOK;
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Hardware CAN Initialization
|
||
|
|
*/
|
||
|
|
static int rt_hw_canfd_init(void)
|
||
|
|
{
|
||
|
|
int i;
|
||
|
|
rt_err_t ret = RT_EOK;
|
||
|
|
|
||
|
|
for (i = (CANFD_START + 1); i < CANFD_CNT; i++)
|
||
|
|
{
|
||
|
|
nu_canfd_arr[i].dev.config = nu_canfd_default_config;
|
||
|
|
|
||
|
|
#ifdef RT_CAN_USING_HDR
|
||
|
|
nu_canfd_arr[i].dev.config.maxhdr = RT_CANMSG_BOX_SZ;
|
||
|
|
#endif
|
||
|
|
/* Register can device */
|
||
|
|
ret = rt_hw_can_register(&nu_canfd_arr[i].dev, nu_canfd_arr[i].name, &nu_canfd_ops, NULL);
|
||
|
|
RT_ASSERT(ret == RT_EOK);
|
||
|
|
|
||
|
|
/* Unmask interrupt. */
|
||
|
|
NVIC_EnableIRQ(nu_canfd_arr[i].irqn0);
|
||
|
|
NVIC_EnableIRQ(nu_canfd_arr[i].irqn1);
|
||
|
|
}
|
||
|
|
|
||
|
|
return (int)ret;
|
||
|
|
}
|
||
|
|
INIT_DEVICE_EXPORT(rt_hw_canfd_init);
|
||
|
|
#endif //#if defined(BSP_USING_CANFD)
|