/* * Copyright : (C) 2022 Phytium Information Technology, Inc. * All Rights Reserved. * * This program is OPEN SOURCE software: you can redistribute it and/or modify it * under the terms of the Phytium Public License as published by the Phytium Technology Co.,Ltd, * either version 1.0 of the License, or (at your option) any later version. * * This program is distributed in the hope that it will be useful,but WITHOUT ANY WARRANTY; * without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. * See the Phytium Public License for more details. * * * FilePath: fcan.h * Date: 2021-04-27 15:08:44 * LastEditTime: 2022-02-18 08:29:25 * Description:  This files is for the can function related definitions * * Modify History: * Ver   Who        Date         Changes * ----- ------     --------    -------------------------------------- * 1.0 wangxiaodong 2022/5/26 first release * 1.1 wangxiaodong 2022/9/23 improve functions * 1.2 zhangyan 2022/12/7 improve functions */ #ifndef FCAN_H #define FCAN_H #include "ftypes.h" #include "ferror_code.h" #include "fparameters.h" #include "fkernel.h" #include "fcan_hw.h" #ifdef __cplusplus extern "C" { #endif typedef enum { FCAN_INTR_EVENT_SEND = 0, /* Handler type for frame sending interrupt */ FCAN_INTR_EVENT_RECV = 1, /* Handler type for frame reception interrupt */ FCAN_INTR_EVENT_ERROR = 2, /* Handler type for error interrupt */ FCAN_INTR_EVENT_BUSOFF = 3, /* Handler type for bus off interrupt */ FCAN_INTR_EVENT_PERROE = 4, /* Handler type for passion error interrupt */ FCAN_INTR_EVENT_PWARN = 5, /* Handler type for passion warn interrupt */ FCAN_INTR_EVENT_FIFOFULL = 6, /* Handler type for rx fifo register full */ FCAN_INTR_EVENT_FIFOEMPTY = 7,/* Handler type for tx fifo register empty */ FCAN_INTR_EVENT_NUM } FCanIntrEventType; #define FCAN_SUCCESS FT_SUCCESS /* SUCCESS */ #define FCAN_NOT_READY FT_MAKE_ERRCODE(ErrModBsp, ErrBspCan, 1) #define FCAN_FAILURE FT_MAKE_ERRCODE(ErrModBsp, ErrBspCan, 2) /* failed */ #define FCAN_INVAL_PARAM FT_MAKE_ERRCODE(ErrModBsp, ErrBspCan, 3) /* invalid parameters */ #if defined(CONFIG_FCAN_USE_CANFD) #define FCAN_DATA_LENGTH 64U #else #define FCAN_DATA_LENGTH 8U #endif /* CAN payload length and DLC definitions according to ISO 11898-1 */ #define CAN_MAX_DLC 8 #define CAN_MAX_DLEN 8 #define CAN_MAX_CTL 3 #define CAN_SFF_ID_BITS 11 #define CAN_EFF_ID_BITS 29 /* special address description flags for the CAN_ID */ #define CAN_EFF_FLAG 0x80000000U /* EFF/SFF is set in the MSB */ #define CAN_RTR_FLAG 0x40000000U /* remote transmission request */ #define CAN_ERR_FLAG 0x20000000U /* error message frame */ /* valid bits in CAN ID for frame formats */ #define CAN_SFF_MASK 0x000007FFU /* standard frame format (SFF) */ #define CAN_EFF_MASK 0x1FFFFFFFU /* extended frame format (EFF) */ #define CAN_ERR_MASK 0x1FFFFFFFU /* omit EFF, RTR, ERR flags */ /* Frame type */ #define STANDARD_FRAME 0 /* standard frame */ #define EXTEND_FRAME 1 /* extended frame */ /* Bit timing calculate */ #define CAN_CALC_MAX_ERROR 50 /* in one-tenth of a percent */ #define CAN_CALC_SYNC_SEG 1 /*Transmit mode*/ #define FCAN_PROBE_MONITOR_MODE 0 /* Monitor mode */ #define FCAN_PROBE_NORMAL_MODE 1 /* Normal mode */ /* can segment type */ typedef enum { FCAN_ARB_SEGMENT = 0, /* Arbitration segment */ FCAN_DATA_SEGMENT = 1, /* Data segment */ FCAN_SEGMENT_TYPE_NUM } FCanSegmentType; /* Can error status bit mask */ #define FCAN_BUS_ERROR_MASK 1 #define FCAN_PASSIVE_ERROR_MASK 2 #define FCAN_PASSIVE_WARNING_MASK 4 #define FCAN_FIFO_RX_OVERFLOW_MASK 8 /* Can frame select */ #define FCAN_STANDARD_FRAME 0 #define FCAN_EXTENDARD_FRAME 1 /* can baudrate */ #define FCAN_BAUDRATE_10K 10000 #define FCAN_BAUDRATE_50K 50000 #define FCAN_BAUDRATE_100K 100000 #define FCAN_BAUDRATE_200K 200000 #define FCAN_BAUDRATE_250K 250000 #define FCAN_BAUDRATE_500K 500000 #define FCAN_BAUDRATE_1000K 1000000 #define FCAN_BAUDRATE_2000K 2000000 #define FCAN_BAUDRATE_3000K 3000000 #define FCAN_BAUDRATE_4000K 4000000 #define FCAN_BAUDRATE_5000K 5000000 /* * defined bits for FCanFrame.flags * * The use of struct FCanFrame implies the Extended Data Length (EDL) bit to * be set in the CAN frame bitstream on the wire. The EDL bit switch turns * the CAN controllers bitstream processor into the CAN FD mode which creates * two new options within the CAN FD frame specification: * * Bit Rate Switch - to indicate a second baudrate is/was used for the payload * Error State Indicator - represents the error state of the transmitting node * * As the CANFD_ESI bit is internally generated by the transmitting CAN * controller only the CANFD_BRS bit is relevant for real CAN controllers when * building a CAN FD frame for transmission. Setting the CANFD_ESI bit can make * sense for virtual CAN interfaces to test applications with echoed frames. */ #define CANFD_BRS 0x02 /* bit rate switch (second baudrate for payload data) */ #define CANFD_ESI 0x04 /* error state indicator of the transmitting node */ typedef void (*FCanIntrEventHandler)(void *param); typedef struct { FCanIntrEventType type; FCanIntrEventHandler handler; void *param; } FCanIntrEventConfig; typedef struct { u32 filter_index;/* filter register index*/ u32 id; /* id bit to receive */ u32 mask;/* id mask bit to receive */ u32 type;/* frame type, standard or extended*/ } FCanIdMaskConfig; typedef struct { u32 canid;/* can frame id */ u8 candlc;/* can frame length */ u8 flags; /* additional flags for CAN FD */ u8 data[FCAN_DATA_LENGTH] __attribute__((aligned(8))); } FCanFrame; typedef struct { u32 instance_id; /* Id of device */ uintptr base_address; /* Can base Address */ u32 irq_num; /* interrupt number */ u32 irq_prority;/* interrupt priority*/ } FCanConfig; typedef struct { FCanSegmentType segment; boolean auto_calc; /* if auto calculate baudrate parameters */ u32 baudrate; /* baudrate */ u32 sample_point; /* sample point */ u32 prop_seg; /* Propagation segment in TQs */ u32 phase_seg1; /* Phase buffer segment 1 in TQs */ u32 phase_seg2; /* Phase buffer segment 2 in TQs */ u32 sjw; /* Synchronisation jump width in TQs */ u32 brp; /* Baudrate prescaler */ } FCanBaudrateConfig; typedef struct { u8 xfers;/* transfer status */ u8 rs; /* receive status */ u8 ts; /* transmit status */ u8 fies; /* Current status of the controller state machine */ u8 fras; /* Frame tagging status */ } FCanXferStatus; typedef struct { FCanXferStatus xfer_status; u32 tx_err_cnt; u32 rx_err_cnt; u32 tx_fifo_cnt; u32 rx_fifo_cnt; } FCanStatus; typedef struct { FCanConfig config; u32 is_ready; /* Device is initialized and ready */ boolean use_canfd; /* if use canfd function */ FCanIntrEventConfig intr_event[FCAN_INTR_EVENT_NUM];/* event handler and parameters for interrupt */ } FCanCtrl; /* get default configuration of specific can id */ const FCanConfig *FCanLookupConfig(u32 instance_id); /* reset a specific can instance */ void FCanReset(FCanCtrl *instance_p); /* Deinitializes a specific can instance */ void FCanDeInitialize(FCanCtrl *instance_p); /* Initializes a specific can instance */ FError FCanCfgInitialize(FCanCtrl *instance_p, const FCanConfig *input_config_p); /* Set the fcan baudrate */ FError FCanBaudrateSet(FCanCtrl *instance_p, FCanBaudrateConfig *baudrate_p); /* interrupt handler for the driver */ void FCanIntrHandler(s32 vector, void *args); /* register FCanCtrl interrupt handler function */ void FCanRegisterInterruptHandler(FCanCtrl *instance_p, FCanIntrEventConfig *intr_event_p); /* receive can message by specific can instance */ FError FCanRecv(FCanCtrl *instance_p, FCanFrame *frame_p); /* send can message by specific can instance */ FError FCanSend(FCanCtrl *instance_p, FCanFrame *frame_p); /* Enable the specific can instance */ FError FCanEnable(FCanCtrl *instance_p, boolean enable); /* read can status, include send and receive error count */ FError FCanStatusGet(FCanCtrl *instance_p, FCanStatus *status_p); /* Set the can mask and umask id */ FError FCanIdMaskFilterSet(FCanCtrl *instance_p, FCanIdMaskConfig *id_mask_p); /* Set the can id mask filter enable */ void FCanIdMaskFilterEnable(FCanCtrl *instance_p); /* Set the can id mask filter disable */ void FCanIdMaskFilterDisable(FCanCtrl *instance_p); /* Enable can interrupt */ FError FCanInterruptEnable(FCanCtrl *instance_p, FCanIntrEventType event_type); /* Enable or disable can fd */ FError FCanFdEnable(FCanCtrl *instance_p, boolean enable); /* Set the transmit mode */ FError FCanSetMode(FCanCtrl *instance_p, u32 tran_mode); #ifdef __cplusplus } #endif #endif // !FT_CAN_H