446 lines
12 KiB
C
446 lines
12 KiB
C
|
/*
|
||
|
|
* Copyright (c) 2006-2024, RT-Thread Development Team
|
||
|
|
*
|
||
|
|
* SPDX-License-Identifier: Apache-2.0
|
||
|
|
*
|
||
|
|
* Change Logs:
|
||
|
|
* Date Author Notes
|
||
|
|
* 2023-03-24 YangXi the first version.
|
||
|
|
*/
|
||
|
|
|
||
|
|
#include <rtdevice.h>
|
||
|
|
|
||
|
|
#ifdef RT_USING_CAN
|
||
|
|
|
||
|
|
#include "fsl_common.h"
|
||
|
|
#include "fsl_flexcan.h"
|
||
|
|
|
||
|
|
#define TX_MB_IDX (7)
|
||
|
|
#define RX_MB_COUNT (1)
|
||
|
|
static flexcan_frame_t frame[RX_MB_COUNT]; /* one frame buffer per RX MB */
|
||
|
|
static rt_uint32_t filter_mask = 0;
|
||
|
|
|
||
|
|
|
||
|
|
enum
|
||
|
|
{
|
||
|
|
#ifdef BSP_USING_CAN0
|
||
|
|
CAN0_INDEX,
|
||
|
|
#endif
|
||
|
|
};
|
||
|
|
|
||
|
|
struct imxrt_can
|
||
|
|
{
|
||
|
|
char *name;
|
||
|
|
CAN_Type *base;
|
||
|
|
IRQn_Type irqn;
|
||
|
|
uint32_t instance;
|
||
|
|
clock_div_name_t clock_div_name;
|
||
|
|
clock_attach_id_t clock_attach_id;
|
||
|
|
flexcan_handle_t handle;
|
||
|
|
struct rt_can_device can_dev;
|
||
|
|
};
|
||
|
|
|
||
|
|
struct imxrt_can flexcans[] =
|
||
|
|
{
|
||
|
|
#ifdef BSP_USING_CAN0
|
||
|
|
{
|
||
|
|
.name = "can0",
|
||
|
|
.base = CAN0,
|
||
|
|
.instance = 0,
|
||
|
|
.irqn = CAN0_IRQn,
|
||
|
|
.clock_div_name = kCLOCK_DivFlexcan0Clk,
|
||
|
|
.clock_attach_id = kFRO_HF_to_FLEXCAN0,
|
||
|
|
},
|
||
|
|
#endif
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
static void flexcan_callback(CAN_Type *base, flexcan_handle_t *handle, status_t status, uint64_t result, void *userData)
|
||
|
|
{
|
||
|
|
struct imxrt_can *can;
|
||
|
|
flexcan_mb_transfer_t rxXfer;
|
||
|
|
|
||
|
|
can = (struct imxrt_can *)userData;
|
||
|
|
switch (status)
|
||
|
|
{
|
||
|
|
case kStatus_FLEXCAN_RxIdle:
|
||
|
|
rt_hw_can_isr(&can->can_dev, RT_CAN_EVENT_RX_IND | result << 8);
|
||
|
|
rxXfer.frame = &frame[result - 1];
|
||
|
|
rxXfer.mbIdx = result;
|
||
|
|
FLEXCAN_TransferReceiveNonBlocking(can->base, &can->handle, &rxXfer);
|
||
|
|
break;
|
||
|
|
|
||
|
|
// case kStatus_FLEXCAN_TxIdle:
|
||
|
|
// rt_hw_can_isr(&can->can_dev, RT_CAN_EVENT_TX_DONE | (63 - result) << 8);
|
||
|
|
// break;
|
||
|
|
|
||
|
|
// case kStatus_FLEXCAN_WakeUp:
|
||
|
|
|
||
|
|
// case kStatus_FLEXCAN_ErrorStatus:
|
||
|
|
// if ((result >= 47) && (result <= 63))
|
||
|
|
// {
|
||
|
|
// rt_hw_can_isr(&can->can_dev, RT_CAN_EVENT_TX_FAIL | (63 - result) << 8);
|
||
|
|
// }
|
||
|
|
// break;
|
||
|
|
|
||
|
|
// case kStatus_FLEXCAN_TxSwitchToRx:
|
||
|
|
// break;
|
||
|
|
|
||
|
|
default:
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
static rt_err_t can_cfg(struct rt_can_device *can_dev, struct can_configure *cfg)
|
||
|
|
{
|
||
|
|
struct imxrt_can *can = (struct imxrt_can *)can_dev->parent.user_data;
|
||
|
|
flexcan_config_t config;
|
||
|
|
rt_uint32_t res = RT_EOK;
|
||
|
|
flexcan_rx_mb_config_t mbConfig;
|
||
|
|
flexcan_mb_transfer_t rxXfer;
|
||
|
|
rt_uint8_t i, mailbox;
|
||
|
|
|
||
|
|
FLEXCAN_GetDefaultConfig(&config);
|
||
|
|
config.baudRate = cfg->baud_rate;
|
||
|
|
config.enableIndividMask = true; /* one filter per MB */
|
||
|
|
switch (cfg->mode)
|
||
|
|
{
|
||
|
|
case RT_CAN_MODE_NORMAL:
|
||
|
|
/* default mode */
|
||
|
|
break;
|
||
|
|
case RT_CAN_MODE_LISTEN:
|
||
|
|
break;
|
||
|
|
case RT_CAN_MODE_LOOPBACK:
|
||
|
|
config.enableLoopBack = true;
|
||
|
|
break;
|
||
|
|
case RT_CAN_MODE_LOOPBACKANLISTEN:
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
|
||
|
|
flexcan_timing_config_t timing_config;
|
||
|
|
rt_memset(&timing_config, 0, sizeof(flexcan_timing_config_t));
|
||
|
|
|
||
|
|
if(FLEXCAN_CalculateImprovedTimingValues(can->base, config.baudRate, CLOCK_GetFlexcanClkFreq(can->instance), &timing_config))
|
||
|
|
{
|
||
|
|
/* Update the improved timing configuration*/
|
||
|
|
rt_memcpy(&(config.timingConfig), &timing_config, sizeof(flexcan_timing_config_t));
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
rt_kprintf("No found Improved Timing Configuration. Just used default configuration\n");
|
||
|
|
}
|
||
|
|
|
||
|
|
FLEXCAN_Init(can->base, &config, CLOCK_GetFlexcanClkFreq(can->instance));
|
||
|
|
FLEXCAN_TransferCreateHandle(can->base, &can->handle, flexcan_callback, can);
|
||
|
|
|
||
|
|
/* init RX_MB_COUNT RX MB to default status */
|
||
|
|
mbConfig.format = kFLEXCAN_FrameFormatStandard; /* standard ID */
|
||
|
|
mbConfig.type = kFLEXCAN_FrameTypeData; /* data frame */
|
||
|
|
mbConfig.id = FLEXCAN_ID_STD(0); /* default ID is 0 */
|
||
|
|
for (i = 0; i < RX_MB_COUNT; i++)
|
||
|
|
{
|
||
|
|
/* the used MB index from 1 to RX_MB_COUNT */
|
||
|
|
mailbox = i + 1;
|
||
|
|
|
||
|
|
/* all ID bit in the filter is "don't care" */
|
||
|
|
FLEXCAN_SetRxIndividualMask(can->base, mailbox, FLEXCAN_RX_MB_STD_MASK(0, 0, 0));
|
||
|
|
FLEXCAN_SetRxMbConfig(can->base, mailbox, &mbConfig, true);
|
||
|
|
/* one frame buffer per MB */
|
||
|
|
rxXfer.frame = &frame[i];
|
||
|
|
rxXfer.mbIdx = mailbox;
|
||
|
|
FLEXCAN_TransferReceiveNonBlocking(can->base, &can->handle, &rxXfer);
|
||
|
|
}
|
||
|
|
|
||
|
|
return res;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
static rt_err_t can_control(struct rt_can_device *can_dev, int cmd, void *arg)
|
||
|
|
{
|
||
|
|
struct imxrt_can *can;
|
||
|
|
rt_uint32_t argval, mask;
|
||
|
|
rt_uint32_t res = RT_EOK;
|
||
|
|
flexcan_rx_mb_config_t mbConfig;
|
||
|
|
struct rt_can_filter_config *cfg;
|
||
|
|
struct rt_can_filter_item *item;
|
||
|
|
rt_uint8_t i, count, index;
|
||
|
|
|
||
|
|
RT_ASSERT(can_dev != RT_NULL);
|
||
|
|
|
||
|
|
can = (struct imxrt_can *)can_dev->parent.user_data;
|
||
|
|
RT_ASSERT(can != RT_NULL);
|
||
|
|
|
||
|
|
switch (cmd)
|
||
|
|
{
|
||
|
|
case RT_DEVICE_CTRL_SET_INT:
|
||
|
|
argval = (rt_uint32_t) arg;
|
||
|
|
if (argval == RT_DEVICE_FLAG_INT_RX)
|
||
|
|
{
|
||
|
|
mask = kFLEXCAN_RxWarningInterruptEnable;
|
||
|
|
}
|
||
|
|
else if (argval == RT_DEVICE_FLAG_INT_TX)
|
||
|
|
{
|
||
|
|
mask = kFLEXCAN_TxWarningInterruptEnable;
|
||
|
|
}
|
||
|
|
else if (argval == RT_DEVICE_CAN_INT_ERR)
|
||
|
|
{
|
||
|
|
mask = kFLEXCAN_ErrorInterruptEnable;
|
||
|
|
}
|
||
|
|
FLEXCAN_EnableInterrupts(can->base, mask);
|
||
|
|
NVIC_SetPriority(can->irqn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(), 5, 0));
|
||
|
|
EnableIRQ(can->irqn);
|
||
|
|
break;
|
||
|
|
case RT_DEVICE_CTRL_CLR_INT:
|
||
|
|
/* each CAN device have one IRQ number. */
|
||
|
|
DisableIRQ(can->irqn);
|
||
|
|
break;
|
||
|
|
case RT_CAN_CMD_SET_FILTER:
|
||
|
|
cfg = (struct rt_can_filter_config *)arg;
|
||
|
|
item = cfg->items;
|
||
|
|
count = cfg->count;
|
||
|
|
|
||
|
|
if (filter_mask == 0xffffffff)
|
||
|
|
{
|
||
|
|
rt_kprintf("%s filter is full!\n", can->name);
|
||
|
|
res = -RT_ERROR;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
else if (filter_mask == 0)
|
||
|
|
{
|
||
|
|
/* deinit all init RX MB */
|
||
|
|
for (i = 0; i < RX_MB_COUNT; i++)
|
||
|
|
{
|
||
|
|
FLEXCAN_SetRxMbConfig(can->base, i + 1, RT_NULL, false);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
while (count)
|
||
|
|
{
|
||
|
|
if (item->ide)
|
||
|
|
{
|
||
|
|
mbConfig.format = kFLEXCAN_FrameFormatExtend;
|
||
|
|
mbConfig.id = FLEXCAN_ID_EXT(item->id);
|
||
|
|
mask = FLEXCAN_RX_MB_EXT_MASK(item->mask, 0, 0);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
mbConfig.format = kFLEXCAN_FrameFormatStandard;
|
||
|
|
mbConfig.id = FLEXCAN_ID_STD(item->id);
|
||
|
|
mask = FLEXCAN_RX_MB_STD_MASK(item->mask, 0, 0);
|
||
|
|
}
|
||
|
|
|
||
|
|
if (item->rtr)
|
||
|
|
{
|
||
|
|
mbConfig.type = kFLEXCAN_FrameTypeRemote;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
mbConfig.type = kFLEXCAN_FrameTypeData;
|
||
|
|
}
|
||
|
|
|
||
|
|
/* user does not specify hdr index,set hdr_bank from RX MB 1 */
|
||
|
|
if (item->hdr_bank == -1)
|
||
|
|
{
|
||
|
|
|
||
|
|
for (i = 0; i < 32; i++)
|
||
|
|
{
|
||
|
|
if (!(filter_mask & (1 << i)))
|
||
|
|
{
|
||
|
|
index = i;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else /* use user specified hdr_bank */
|
||
|
|
{
|
||
|
|
if (filter_mask & (1 << item->hdr_bank))
|
||
|
|
{
|
||
|
|
res = -RT_ERROR;
|
||
|
|
rt_kprintf("%s hdr%d filter already set!\n", can->name, item->hdr_bank);
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
index = item->hdr_bank;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
/* RX MB index from 1 to 32,hdr index 0~31 map RX MB index 1~32. */
|
||
|
|
FLEXCAN_SetRxIndividualMask(can->base, index + 1, mask);
|
||
|
|
FLEXCAN_SetRxMbConfig(can->base, index + 1, &mbConfig, true);
|
||
|
|
filter_mask |= 1 << index;
|
||
|
|
|
||
|
|
item++;
|
||
|
|
count--;
|
||
|
|
}
|
||
|
|
|
||
|
|
break;
|
||
|
|
|
||
|
|
case RT_CAN_CMD_SET_BAUD:
|
||
|
|
res = -RT_ERROR;
|
||
|
|
break;
|
||
|
|
case RT_CAN_CMD_SET_MODE:
|
||
|
|
res = -RT_ERROR;
|
||
|
|
break;
|
||
|
|
|
||
|
|
case RT_CAN_CMD_SET_PRIV:
|
||
|
|
res = -RT_ERROR;
|
||
|
|
break;
|
||
|
|
case RT_CAN_CMD_GET_STATUS:
|
||
|
|
FLEXCAN_GetBusErrCount(can->base, (rt_uint8_t *)(&can->can_dev.status.snderrcnt), (rt_uint8_t *)(&can->can_dev.status.rcverrcnt));
|
||
|
|
rt_memcpy(arg, &can->can_dev.status, sizeof(can->can_dev.status));
|
||
|
|
break;
|
||
|
|
default:
|
||
|
|
res = -RT_ERROR;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
|
||
|
|
return res;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
static rt_ssize_t can_send(struct rt_can_device *can_dev, const void *buf, rt_uint32_t boxno)
|
||
|
|
{
|
||
|
|
struct imxrt_can *can;
|
||
|
|
struct rt_can_msg *msg;
|
||
|
|
status_t ret;
|
||
|
|
flexcan_frame_t frame;
|
||
|
|
|
||
|
|
can = (struct imxrt_can *)can_dev->parent.user_data;
|
||
|
|
msg = (struct rt_can_msg *) buf;
|
||
|
|
|
||
|
|
FLEXCAN_SetTxMbConfig(can->base, TX_MB_IDX, true);
|
||
|
|
|
||
|
|
if (RT_CAN_STDID == msg->ide)
|
||
|
|
{
|
||
|
|
frame.id = FLEXCAN_ID_STD(msg->id);
|
||
|
|
frame.format = kFLEXCAN_FrameFormatStandard;
|
||
|
|
}
|
||
|
|
else if (RT_CAN_EXTID == msg->ide)
|
||
|
|
{
|
||
|
|
frame.id = FLEXCAN_ID_EXT(msg->id);
|
||
|
|
frame.format = kFLEXCAN_FrameFormatExtend;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (RT_CAN_DTR == msg->rtr)
|
||
|
|
{
|
||
|
|
frame.type = kFLEXCAN_FrameTypeData;
|
||
|
|
}
|
||
|
|
else if (RT_CAN_RTR == msg->rtr)
|
||
|
|
{
|
||
|
|
frame.type = kFLEXCAN_FrameTypeRemote;
|
||
|
|
}
|
||
|
|
|
||
|
|
frame.length = msg->len;
|
||
|
|
frame.dataByte0 = msg->data[0];
|
||
|
|
frame.dataByte1 = msg->data[1];
|
||
|
|
frame.dataByte2 = msg->data[2];
|
||
|
|
frame.dataByte3 = msg->data[3];
|
||
|
|
frame.dataByte4 = msg->data[4];
|
||
|
|
frame.dataByte5 = msg->data[5];
|
||
|
|
frame.dataByte6 = msg->data[6];
|
||
|
|
frame.dataByte7 = msg->data[7];
|
||
|
|
|
||
|
|
ret = FLEXCAN_TransferSendBlocking(can->base, TX_MB_IDX, &frame);
|
||
|
|
switch (ret)
|
||
|
|
{
|
||
|
|
case kStatus_Success:
|
||
|
|
ret = RT_EOK;
|
||
|
|
break;
|
||
|
|
case kStatus_Fail:
|
||
|
|
ret = -RT_ERROR;
|
||
|
|
break;
|
||
|
|
case kStatus_FLEXCAN_TxBusy:
|
||
|
|
ret = -RT_EBUSY;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
|
||
|
|
return (rt_ssize_t)ret;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
static rt_ssize_t can_recv(struct rt_can_device *can_dev, void *buf, rt_uint32_t boxno)
|
||
|
|
{
|
||
|
|
struct imxrt_can *can;
|
||
|
|
struct rt_can_msg *pmsg;
|
||
|
|
rt_uint8_t index;
|
||
|
|
|
||
|
|
can = (struct imxrt_can *)can_dev->parent.user_data;
|
||
|
|
pmsg = (struct rt_can_msg *) buf;
|
||
|
|
|
||
|
|
index = boxno - 1;
|
||
|
|
|
||
|
|
if (frame[index].format == kFLEXCAN_FrameFormatStandard)
|
||
|
|
{
|
||
|
|
pmsg->ide = RT_CAN_STDID;
|
||
|
|
pmsg->id = frame[index].id >> CAN_ID_STD_SHIFT;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
pmsg->ide = RT_CAN_EXTID;
|
||
|
|
pmsg->id = frame[index].id >> CAN_ID_EXT_SHIFT;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (frame[index].type == kFLEXCAN_FrameTypeData)
|
||
|
|
{
|
||
|
|
pmsg->rtr = RT_CAN_DTR;
|
||
|
|
}
|
||
|
|
else if (frame[index].type == kFLEXCAN_FrameTypeRemote)
|
||
|
|
{
|
||
|
|
pmsg->rtr = RT_CAN_RTR;
|
||
|
|
}
|
||
|
|
pmsg->hdr_index = index; /* one hdr filter per MB */
|
||
|
|
pmsg->len = frame[index].length;
|
||
|
|
pmsg->data[0] = frame[index].dataByte0;
|
||
|
|
pmsg->data[1] = frame[index].dataByte1;
|
||
|
|
pmsg->data[2] = frame[index].dataByte2;
|
||
|
|
pmsg->data[3] = frame[index].dataByte3;
|
||
|
|
pmsg->data[4] = frame[index].dataByte4;
|
||
|
|
pmsg->data[5] = frame[index].dataByte5;
|
||
|
|
pmsg->data[6] = frame[index].dataByte6;
|
||
|
|
pmsg->data[7] = frame[index].dataByte7;
|
||
|
|
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
static struct rt_can_ops imxrt_can_ops =
|
||
|
|
{
|
||
|
|
.configure = can_cfg,
|
||
|
|
.control = can_control,
|
||
|
|
.sendmsg = can_send,
|
||
|
|
.recvmsg = can_recv,
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
int rt_hw_can_init(void)
|
||
|
|
{
|
||
|
|
int i;
|
||
|
|
rt_err_t ret = RT_EOK;
|
||
|
|
struct can_configure config = CANDEFAULTCONFIG;
|
||
|
|
|
||
|
|
config.privmode = 0;
|
||
|
|
config.ticks = 50;
|
||
|
|
config.sndboxnumber = 1;
|
||
|
|
config.msgboxsz = RX_MB_COUNT;
|
||
|
|
#ifdef RT_CAN_USING_HDR
|
||
|
|
config.maxhdr = RX_MB_COUNT; /* filter count,one filter per MB */
|
||
|
|
#endif
|
||
|
|
|
||
|
|
for (i = 0; i < sizeof(flexcans) / sizeof(flexcans[0]); i++)
|
||
|
|
{
|
||
|
|
flexcans[i].can_dev.config = config;
|
||
|
|
CLOCK_SetClkDiv(flexcans[i].clock_div_name, 1u);
|
||
|
|
CLOCK_AttachClk(flexcans[i].clock_attach_id);
|
||
|
|
|
||
|
|
ret = rt_hw_can_register(&flexcans[i].can_dev, flexcans[i].name, &imxrt_can_ops, &flexcans[i]);
|
||
|
|
}
|
||
|
|
|
||
|
|
return ret;
|
||
|
|
}
|
||
|
|
INIT_BOARD_EXPORT(rt_hw_can_init);
|
||
|
|
|
||
|
|
#endif /*RT_USING_CAN */
|