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Merge pull request #2819 from misonyo/rttdev 

[bsp/imxrt]add can driver
This commit is contained in:
Bernard Xiong 2019-06-28 16:04:23 +08:00 committed by GitHub
parent 1394700281 a1a3cf5f32
commit c5543593e2
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
9 changed files with 526 additions and 3 deletions
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2
bsp/imxrt/Libraries/MIMXRT1050/SConscript
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@ -55,7 +55,7 @@ if GetDepend(['BSP_USING_LCD']):
if GetDepend(['RT_USING_USB_HOST']) or GetDepend(['RT_USING_USB_DEVICE']):
src += ['MIMXRT1052/drivers/fsl_usdhc.c']
if GetDepend(['RT_USING_CAN']):
if GetDepend(['BSP_USING_CAN']):
src += ['MIMXRT1052/drivers/fsl_flexcan.c']
if GetDepend(['BSP_USING_ETH']):

3
bsp/imxrt/Libraries/drivers/SConscript
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@ -31,6 +31,9 @@ if GetDepend('BSP_USING_PWM'):
if GetDepend('BSP_USING_ADC'):
src += ['drv_adc.c']
if GetDepend('BSP_USING_CAN'):
src += ['drv_can.c']
if GetDepend('BSP_USING_SDRAM'):
src += ['drv_sdram.c']

461
bsp/imxrt/Libraries/drivers/drv_can.c Normal file
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@ -0,0 +1,461 @@
/*
* Copyright (c) 2006-2018, RT-Thread Development Team
*
* SPDX-License-Identifier: Apache-2.0
*
* Change Logs:
* Date Author Notes
* 2019-06-27 misonyo the first version.
*/
#include <rtthread.h>
#ifdef BSP_USING_CAN
#include <rtdevice.h>
#include "drv_can.h"
#include "fsl_common.h"
#include "fsl_iomuxc.h"
#include "fsl_flexcan.h"
#define LOG_TAG "drv.can"
#include <drv_log.h>
#if defined(FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL) && FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL
#error "Please don't define 'FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL'!"
#endif
#define RX_MB_COUNT 32
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_CAN1
CAN1_INDEX,
#endif
#ifdef BSP_USING_CAN2
CAN2_INDEX,
#endif
};
struct imxrt_can
{
char *name;
CAN_Type *base;
IRQn_Type irqn;
flexcan_handle_t handle;
struct rt_can_device can_dev;
};
struct imxrt_can flexcans[] =
{
#ifdef BSP_USING_CAN1
{
.name = "can1",
.base = CAN1,
.irqn = CAN1_IRQn,
},
#endif
#ifdef BSP_USING_CAN2
{
.name = "can2",
.base = CAN2,
.irqn = CAN2_IRQn,
},
#endif
};
uint32_t GetCanSrcFreq(void)
{
uint32_t freq;
freq = (CLOCK_GetFreq(kCLOCK_Usb1PllClk) / 6) / (CLOCK_GetDiv(kCLOCK_CanDiv) + 1U);
return freq;
}
static void flexcan_callback(CAN_Type *base, flexcan_handle_t *handle, status_t status, uint32_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;
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;
RT_ASSERT(can_dev != RT_NULL);
RT_ASSERT(cfg != RT_NULL);
can = (struct imxrt_can *)can_dev->parent.user_data;
RT_ASSERT(can != RT_NULL);
FLEXCAN_GetDefaultConfig(&config);
config.baudRate = cfg->baud_rate;
config.maxMbNum = 64; /* all series have 64 MB */
config.enableIndividMask = true; /* one filter per MB */
switch (cfg->mode)
{
case RT_CAN_MODE_NORMAL:
/* default mode */
break;
case RT_CAN_MODE_LISEN:
break;
case RT_CAN_MODE_LOOPBACK:
config.enableLoopBack = true;
break;
case RT_CAN_MODE_LOOPBACKANLISEN:
break;
}
FLEXCAN_Init(can->base, &config, GetCanSrcFreq());
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)
{
LOG_E("%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 from RX MB 1 */
if (item->hdr == -1)
{
for (i = 0; i < 32; i++)
{
if (!(filter_mask & (1 << i)))
{
index = i;
break;
}
}
}
else /* use user specified hdr */
{
if (filter_mask & (1 << item->hdr))
{
res = RT_ERROR;
LOG_E("%s hdr%d filter already set!\n", can->name, item->hdr);
break;
}
else
{
index = item->hdr;
}
}
/* 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 int 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;
flexcan_mb_transfer_t txXfer;
rt_uint8_t sendMB;
RT_ASSERT(can_dev != RT_NULL);
RT_ASSERT(buf != RT_NULL);
can = (struct imxrt_can *)can_dev->parent.user_data;
msg = (struct rt_can_msg *) buf;
RT_ASSERT(can != RT_NULL);
RT_ASSERT(msg != RT_NULL);
/* use the last 16 MB to send msg */
sendMB = 63 - boxno;
FLEXCAN_SetTxMbConfig(can->base, sendMB, 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];
txXfer.mbIdx = sendMB;
txXfer.frame = &frame;
ret = FLEXCAN_TransferSendNonBlocking(can->base, &can->handle, &txXfer);
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 ret;
}
static int 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;
RT_ASSERT(can_dev != RT_NULL);
can = (struct imxrt_can *)can_dev->parent.user_data;
pmsg = (struct rt_can_msg *) buf;
RT_ASSERT(can != RT_NULL);
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; /* 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 = 16; /* send Mailbox count */
config.msgboxsz = RX_MB_COUNT; /* RX msg buffer 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;
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 /* BSP_USING_CAN */

16
bsp/imxrt/Libraries/drivers/drv_can.h Normal file
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@ -0,0 +1,16 @@
/*
* Copyright (c) 2006-2018, RT-Thread Development Team
*
* SPDX-License-Identifier: Apache-2.0
*
* Change Logs:
* Date Author Notes
* 2019-06-28 misonyo the first version.
*/
#ifndef DRV_SPI_H__
#define DRV_SPI_H__
int rt_hw_can_init(void);
#endif /* DRV_SPI_H__ */

1
bsp/imxrt/imxrt1052-fire-pro/README.md
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@ -54,6 +54,7 @@ i.MX RT1052 EVK Pro 是野火推出的一款基于 ARM Cortex-M7 内核的开发
| WDT | 支持 | |
| PWM | 支持 | |
| GPT | 支持 | |
| CAN | 支持 | CAN1 |
## 使用说明

11
bsp/imxrt/imxrt1052-fire-pro/board/Kconfig
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@ -16,6 +16,17 @@ menu "On-chip Peripheral Drivers"
select RT_USING_PIN
default y
menuconfig BSP_USING_CAN
bool "Enable CAN"
select RT_USING_CAN
default n
if BSP_USING_CAN
config BSP_USING_CAN1
bool "Enable CAN1"
default y
endif
menuconfig BSP_USING_LPUART
bool "Enable UART"
select RT_USING_SERIAL

5
bsp/imxrt/imxrt1052-fire-pro/board/MCUX_Config/clock_config.c
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@ -53,7 +53,7 @@ name: BOARD_BootClockRUN
called_from_default_init: true
outputs:
- {id: AHB_CLK_ROOT.outFreq, value: 600 MHz}
- {id: CAN_CLK_ROOT.outFreq, value: 40 MHz}
- {id: CAN_CLK_ROOT.outFreq, value: 20 MHz}
- {id: CKIL_SYNC_CLK_ROOT.outFreq, value: 32.768 kHz}
- {id: CLK_1M.outFreq, value: 1 MHz}
- {id: CLK_24M.outFreq, value: 24 MHz}
@ -93,6 +93,7 @@ outputs:
settings:
- {id: CCM.AHB_PODF.scale, value: '1', locked: true}
- {id: CCM.ARM_PODF.scale, value: '2', locked: true}
- {id: CCM.CAN_CLK_PODF.scale, value: '4', locked: true}
- {id: CCM.FLEXSPI_PODF.scale, value: '1', locked: true}
- {id: CCM.FLEXSPI_SEL.sel, value: CCM_ANALOG.PLL3_PFD0_CLK}
- {id: CCM.LCDIF_PODF.scale, value: '8', locked: true}
@ -297,7 +298,7 @@ void BOARD_BootClockRUN(void)
CLOCK_DisableClock(kCLOCK_Can1S);
CLOCK_DisableClock(kCLOCK_Can2S);
/* Set CAN_CLK_PODF. */
CLOCK_SetDiv(kCLOCK_CanDiv, 1);
CLOCK_SetDiv(kCLOCK_CanDiv, 3);
/* Set Can clock source. */
CLOCK_SetMux(kCLOCK_CanMux, 2);
/* Disable UART clock gate. */

26
bsp/imxrt/imxrt1052-fire-pro/board/MCUX_Config/pin_mux.c
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@ -110,6 +110,32 @@ void BOARD_InitPins(void) {
IOMUXC_SetPinMux(
IOMUXC_GPIO_B1_13_LPUART5_RX, /* GPIO_B1_13 is configured as LPUART5_RX */
0U); /* Software Input On Field: Input Path is determined by functionality */
IOMUXC_SetPinMux(
IOMUXC_GPIO_AD_B0_14_FLEXCAN2_TX, /* GPIO_AD_B0_14 is configured as FLEXCAN2_TX */
1U); /* Software Input On Field: Force input path of pad GPIO_AD_B0_14 */
IOMUXC_SetPinMux(
IOMUXC_GPIO_AD_B0_15_FLEXCAN2_RX, /* GPIO_AD_B0_15 is configured as FLEXCAN2_RX */
1U); /* Software Input On Field: Force input path of pad GPIO_AD_B0_15 */
IOMUXC_SetPinConfig(
IOMUXC_GPIO_AD_B0_14_FLEXCAN2_TX, /* GPIO_AD_B0_14 PAD functional properties : */
0x10B0u); /* Slew Rate Field: Slow Slew Rate
Drive Strength Field: R0/6
Speed Field: medium(100MHz)
Open Drain Enable Field: Open Drain Disabled
Pull / Keep Enable Field: Pull/Keeper Enabled
Pull / Keep Select Field: Keeper
Pull Up / Down Config. Field: 100K Ohm Pull Down
Hyst. Enable Field: Hysteresis Disabled */
IOMUXC_SetPinConfig(
IOMUXC_GPIO_AD_B0_15_FLEXCAN2_RX, /* GPIO_AD_B0_15 PAD functional properties : */
0x10B0u); /* Slew Rate Field: Slow Slew Rate
Drive Strength Field: R0/6
Speed Field: medium(100MHz)
Open Drain Enable Field: Open Drain Disabled
Pull / Keep Enable Field: Pull/Keeper Enabled
Pull / Keep Select Field: Keeper
Pull Up / Down Config. Field: 100K Ohm Pull Down
Hyst. Enable Field: Hysteresis Disabled */
}
/***********************************************************************************************************************

4
bsp/imxrt/imxrt1052-fire-pro/rtconfig.h
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@ -78,6 +78,8 @@
#define RT_USING_SERIAL
#define RT_SERIAL_USING_DMA
#define RT_SERIAL_RB_BUFSZ 64
#define RT_USING_CAN
#define RT_CAN_USING_HDR
#define RT_USING_CPUTIME
#define RT_USING_PIN
@ -158,6 +160,8 @@
/* On-chip Peripheral Drivers */
#define BSP_USING_GPIO
#define BSP_USING_CAN
#define BSP_USING_CAN2
#define BSP_USING_LPUART
#define BSP_USING_LPUART1