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rt-thread/bsp/essemi/es32f0654/drivers/drv_can.c

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/*
* Copyright (C) 2018 Shanghai Eastsoft Microelectronics Co., Ltd.
*
* SPDX-License-Identifier: Apache-2.0
*
* Change Logs:
* Date Author Notes
* 2019-11-09 wangyq the first version
*/
#include "drv_can.h"
#ifdef BSP_USING_CAN
static struct es32f0_can can;
/* attention !!! baud calculation example: Pclk / ((sjw + seg1 + seg2) * psc) 48 / ((1 + 3 + 2) * 8) = 1MHz */
static const struct es32f0_baud_rate_tab can_baud_rate_tab[] =
{
{CAN1MBaud, 8},
{CAN800kBaud, 10},
{CAN500kBaud, 16},
{CAN250kBaud, 32},
{CAN125kBaud, 64},
{CAN100kBaud, 80},
{CAN50kBaud, 160},
{CAN20kBaud, 400},
{CAN10kBaud, 800}
};
static rt_uint32_t get_can_baud_index(rt_uint32_t baud)
{
rt_uint32_t len, index;
len = sizeof(can_baud_rate_tab) / sizeof(can_baud_rate_tab[0]);
for (index = 0; index < len; index++)
{
if (can_baud_rate_tab[index].baud_rate == baud)
return index;
}
return 0; /* default baud is CAN1MBaud */
}
static rt_err_t _can_config(struct rt_can_device *can_device, struct can_configure *cfg)
{
struct es32f0_can *drv_can;
rt_uint32_t baud_index;
RT_ASSERT(can_device);
RT_ASSERT(cfg);
drv_can = (struct es32f0_can *)can_device->parent.user_data;
RT_ASSERT(drv_can);
drv_can->CanHandle.perh = CAN0;
drv_can->CanHandle.init.ttcm = DISABLE;
drv_can->CanHandle.init.abom = ENABLE;
drv_can->CanHandle.init.awk = DISABLE;
drv_can->CanHandle.init.artx = DISABLE;
drv_can->CanHandle.init.rfom = DISABLE;
drv_can->CanHandle.init.txmp = ENABLE;
switch (cfg->mode)
{
case RT_CAN_MODE_NORMAL:
drv_can->CanHandle.init.mode = CAN_MODE_NORMAL;
break;
case RT_CAN_MODE_LISEN:
drv_can->CanHandle.init.mode = CAN_MODE_SILENT;
break;
case RT_CAN_MODE_LOOPBACK:
drv_can->CanHandle.init.mode = CAN_MODE_LOOPBACK;
break;
case RT_CAN_MODE_LOOPBACKANLISEN:
drv_can->CanHandle.init.mode = CAN_MODE_SILENT_LOOPBACK;
break;
}
baud_index = get_can_baud_index(cfg->baud_rate);
drv_can->CanHandle.init.sjw = CAN_SJW_1;
drv_can->CanHandle.init.seg1 = CAN_SEG1_3;
drv_can->CanHandle.init.seg2 = CAN_SEG2_2;
drv_can->CanHandle.init.psc = can_baud_rate_tab[baud_index].config_data;
/* init can */
if (ald_can_init(&drv_can->CanHandle) != OK)
{
return -RT_ERROR;
}
/* default filter config */
ald_can_filter_config(&drv_can->CanHandle, &drv_can->FilterConfig);
return RT_EOK;
}
static rt_err_t _can_control(struct rt_can_device *can_device, int cmd, void *arg)
{
rt_uint32_t argval;
struct es32f0_can *drv_can;
struct rt_can_filter_config *filter_cfg;
RT_ASSERT(can_device != RT_NULL);
drv_can = (struct es32f0_can *)can_device->parent.user_data;
RT_ASSERT(drv_can != RT_NULL);
switch (cmd)
{
case RT_DEVICE_CTRL_CLR_INT:
argval = (rt_uint32_t) arg;
if (argval == RT_DEVICE_FLAG_INT_RX)
{
ald_can_interrupt_config(&drv_can->CanHandle, (can_it_t)(CAN_IT_FP0 | CAN_IT_FF0 | CAN_IT_FOV0 |
CAN_IT_FP1 | CAN_IT_FF1 | CAN_IT_FOV1), DISABLE);
}
else if (argval == RT_DEVICE_FLAG_INT_TX)
{
ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_TXM, DISABLE);
}
else if (argval == RT_DEVICE_CAN_INT_ERR)
{
ald_can_interrupt_config(&drv_can->CanHandle, (can_it_t)(CAN_IT_WARN | CAN_IT_PERR | CAN_IT_BOF |
CAN_IT_PRERR | CAN_IT_ERR), DISABLE);
}
break;
case RT_DEVICE_CTRL_SET_INT:
argval = (rt_uint32_t) arg;
if (argval == RT_DEVICE_FLAG_INT_RX)
{
NVIC_SetPriority(CAN0_IRQn, 1);
NVIC_EnableIRQ(CAN0_IRQn);
ald_can_interrupt_config(&drv_can->CanHandle, (can_it_t)(CAN_IT_FP0 | CAN_IT_FP1), ENABLE);
}
else if (argval == RT_DEVICE_FLAG_INT_TX)
{
NVIC_SetPriority(CAN0_IRQn, 1);
NVIC_EnableIRQ(CAN0_IRQn);
ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_TXM, ENABLE);
}
else if (argval == RT_DEVICE_CAN_INT_ERR)
{
NVIC_SetPriority(CAN0_IRQn, 1);
NVIC_EnableIRQ(CAN0_IRQn);
ald_can_interrupt_config(&drv_can->CanHandle, (can_it_t)(CAN_IT_WARN | CAN_IT_PERR | CAN_IT_BOF |
CAN_IT_PRERR | CAN_IT_ERR), ENABLE);
}
break;
case RT_CAN_CMD_SET_FILTER:
if (RT_NULL == arg)
{
/* default filter config */
ald_can_filter_config(&drv_can->CanHandle, &drv_can->FilterConfig);
}
else
{
filter_cfg = (struct rt_can_filter_config *)arg;
/* get default filter */
for (int i = 0; i < filter_cfg->count; i++)
{
drv_can->FilterConfig.number = filter_cfg->items[i].hdr;
drv_can->FilterConfig.id_high = (filter_cfg->items[i].id >> 13) & 0xFFFF;
drv_can->FilterConfig.id_low = ((filter_cfg->items[i].id << 3) |
(filter_cfg->items[i].ide << 2) |
(filter_cfg->items[i].rtr << 1)) & 0xFFFF;
drv_can->FilterConfig.mask_id_high = (filter_cfg->items[i].mask >> 16) & 0xFFFF;
drv_can->FilterConfig.mask_id_low = filter_cfg->items[i].mask & 0xFFFF;
drv_can->FilterConfig.mode = (can_filter_mode_t)filter_cfg->items[i].mode;
/* Filter conf */
ald_can_filter_config(&drv_can->CanHandle, &drv_can->FilterConfig);
}
}
break;
case RT_CAN_CMD_SET_MODE:
argval = (rt_uint32_t) arg;
if (argval != RT_CAN_MODE_NORMAL &&
argval != RT_CAN_MODE_LISEN &&
argval != RT_CAN_MODE_LOOPBACK &&
argval != RT_CAN_MODE_LOOPBACKANLISEN)
{
return -RT_ERROR;
}
if (argval != drv_can->device.config.mode)
{
drv_can->device.config.mode = argval;
return _can_config(&drv_can->device, &drv_can->device.config);
}
break;
case RT_CAN_CMD_SET_BAUD:
argval = (rt_uint32_t) arg;
if (argval != CAN1MBaud &&
argval != CAN800kBaud &&
argval != CAN500kBaud &&
argval != CAN250kBaud &&
argval != CAN125kBaud &&
argval != CAN100kBaud &&
argval != CAN50kBaud &&
argval != CAN20kBaud &&
argval != CAN10kBaud)
{
return -RT_ERROR;
}
if (argval != drv_can->device.config.baud_rate)
{
drv_can->device.config.baud_rate = argval;
return _can_config(&drv_can->device, &drv_can->device.config);
}
break;
case RT_CAN_CMD_SET_PRIV:
argval = (rt_uint32_t) arg;
if (argval != RT_CAN_MODE_PRIV &&
argval != RT_CAN_MODE_NOPRIV)
{
return -RT_ERROR;
}
if (argval != drv_can->device.config.privmode)
{
drv_can->device.config.privmode = argval;
return _can_config(&drv_can->device, &drv_can->device.config);
}
break;
case RT_CAN_CMD_GET_STATUS:
{
rt_uint32_t errtype;
errtype = drv_can->CanHandle.perh->ERRSTAT;
drv_can->device.status.rcverrcnt = errtype >> 24;
drv_can->device.status.snderrcnt = (errtype >> 16 & 0xFF);
drv_can->device.status.lasterrtype = errtype & 0x70;
drv_can->device.status.errcode = errtype & 0x07;
rt_memcpy(arg, &drv_can->device.status, sizeof(drv_can->device.status));
}
break;
}
return RT_EOK;
}
static int _can_sendmsg(struct rt_can_device *can, const void *buf, rt_uint32_t box_num)
{
can_handle_t *h_can;
h_can = &((struct es32f0_can *) can->parent.user_data)->CanHandle;
struct rt_can_msg *pmsg = (struct rt_can_msg *) buf;
can_tx_msg_t txheader = {0};
can_state_t state = h_can->state;
/* Check the parameters */
RT_ASSERT(IS_CAN_DATA_LEN(pmsg->len));
if ((state == CAN_STATE_READY) ||
(state == CAN_STATE_BUSY_RX0))
{
/*check select mailbox is empty */
switch (1 << box_num)
{
case CAN_TX_MAILBOX_0:
if (ald_can_get_flag_status(h_can, CAN_FLAG_TXM0) != SET)
{
/* Change CAN state */
h_can->state = CAN_STATE_ERROR;
/* Return function status */
return -RT_ERROR;
}
break;
case CAN_TX_MAILBOX_1:
if (ald_can_get_flag_status(h_can, CAN_FLAG_TXM1) != SET)
{
/* Change CAN state */
h_can->state = CAN_STATE_ERROR;
/* Return function status */
return -RT_ERROR;
}
break;
case CAN_TX_MAILBOX_2:
if (ald_can_get_flag_status(h_can, CAN_FLAG_TXM2) != SET)
{
/* Change CAN state */
h_can->state = CAN_STATE_ERROR;
/* Return function status */
return -RT_ERROR;
}
break;
default:
RT_ASSERT(0);
break;
}
if (RT_CAN_STDID == pmsg->ide)
{
txheader.type = CAN_ID_STD;
RT_ASSERT(IS_CAN_STDID(pmsg->id));
txheader.std = pmsg->id;
}
else
{
txheader.type = CAN_ID_EXT;
RT_ASSERT(IS_CAN_EXTID(pmsg->id));
txheader.ext = pmsg->id;
}
if (RT_CAN_DTR == pmsg->rtr)
{
txheader.rtr = CAN_RTR_DATA;
}
else
{
txheader.rtr = CAN_RTR_REMOTE;
}
/* clear TIR */
h_can->perh->TxMailBox[box_num].TXID &= CAN_TXID0_TXMREQ_MSK;
/* Set up the Id */
if (RT_CAN_STDID == pmsg->ide)
{
h_can->perh->TxMailBox[box_num].TXID |= (txheader.std << CAN_TXID0_STDID_POSS) | txheader.rtr;
}
else
{
h_can->perh->TxMailBox[box_num].TXID |= (txheader.ext << CAN_TXID0_EXID_POSS) | txheader.type | txheader.rtr;
}
/* Set up the DLC */
h_can->perh->TxMailBox[box_num].TXFCON = pmsg->len & 0x0FU;
/* Set up the data field */
WRITE_REG(h_can->perh->TxMailBox[box_num].TXDH,
((uint32_t)pmsg->data[7] << CAN_TXDH0_BYTE7_POSS) |
((uint32_t)pmsg->data[6] << CAN_TXDH0_BYTE6_POSS) |
((uint32_t)pmsg->data[5] << CAN_TXDH0_BYTE5_POSS) |
((uint32_t)pmsg->data[4] << CAN_TXDH0_BYTE4_POSS));
WRITE_REG(h_can->perh->TxMailBox[box_num].TXDL,
((uint32_t)pmsg->data[3] << CAN_TXDL0_BYTE3_POSS) |
((uint32_t)pmsg->data[2] << CAN_TXDL0_BYTE2_POSS) |
((uint32_t)pmsg->data[1] << CAN_TXDL0_BYTE1_POSS) |
((uint32_t)pmsg->data[0] << CAN_TXDL0_BYTE0_POSS));
/* Request transmission */
SET_BIT(h_can->perh->TxMailBox[box_num].TXID, CAN_TXID0_TXMREQ_MSK);
return RT_EOK;
}
else
{
/* Update error code */
h_can->err |= 0x00040000U;
return -RT_ERROR;
}
}
static int _can_recvmsg(struct rt_can_device *can, void *buf, rt_uint32_t fifo)
{
can_handle_t *h_can;
struct rt_can_msg *pmsg;
can_rx_msg_t rxheader = {0};
RT_ASSERT(can);
h_can = &((struct es32f0_can *)can->parent.user_data)->CanHandle;
pmsg = (struct rt_can_msg *) buf;
/* get data */
if (ald_can_recv(h_can, (can_rx_fifo_t)fifo, &rxheader, 0xFFFF) != OK)
return -RT_ERROR;
pmsg->data[0] = rxheader.data[0];
pmsg->data[1] = rxheader.data[1];
pmsg->data[2] = rxheader.data[2];
pmsg->data[3] = rxheader.data[3];
pmsg->data[4] = rxheader.data[4];
pmsg->data[5] = rxheader.data[5];
pmsg->data[6] = rxheader.data[6];
pmsg->data[7] = rxheader.data[7];
/* get id */
if (CAN_ID_STD == rxheader.type)
{
pmsg->ide = RT_CAN_STDID;
pmsg->id = rxheader.std;
}
else
{
pmsg->ide = RT_CAN_EXTID;
pmsg->id = rxheader.ext;
}
/* get type */
if (CAN_RTR_DATA == rxheader.rtr)
{
pmsg->rtr = RT_CAN_DTR;
}
else
{
pmsg->rtr = RT_CAN_RTR;
}
/* get len */
pmsg->len = rxheader.len;
/* get hdr */
pmsg->hdr = (rxheader.fmi + 1) >> 1;
return RT_EOK;
}
static const struct rt_can_ops _can_ops =
{
_can_config,
_can_control,
_can_sendmsg,
_can_recvmsg,
};
static void _can_rx_isr(struct rt_can_device *can, rt_uint32_t fifo)
{
can_handle_t *h_can;
RT_ASSERT(can);
h_can = &((struct es32f0_can *) can->parent.user_data)->CanHandle;
switch (fifo)
{
case CAN_RX_FIFO0:
/* Check Overrun flag for FIFO0 */
if (ald_can_get_flag_status(h_can, CAN_FLAG_FOV0) && ald_can_get_it_status(h_can, CAN_IT_FOV0))
{
/* Clear FIFO0 Overrun Flag */
ald_can_clear_flag_status(h_can, CAN_FLAG_FOV0);
rt_hw_can_isr(can, RT_CAN_EVENT_RXOF_IND | fifo << 8);
}
/* RX interrupt */
else
{
/* save to user list */
rt_hw_can_isr(can, RT_CAN_EVENT_RX_IND | fifo << 8);
/* Clear FIFO0 rx Flag */
SET_BIT(h_can->perh->RXF0, CAN_RXF0_FREE_MSK);
}
break;
case CAN_RX_FIFO1:
/* Check Overrun flag for FIFO1 */
if (ald_can_get_flag_status(h_can, CAN_FLAG_FOV1) && ald_can_get_it_status(h_can, CAN_IT_FOV1))
{
/* Clear FIFO1 Overrun Flag */
ald_can_clear_flag_status(h_can, CAN_FLAG_FOV1);
rt_hw_can_isr(can, RT_CAN_EVENT_RXOF_IND | fifo << 8);
}
/* RX interrupt */
else
{
/* save to user list */
rt_hw_can_isr(can, RT_CAN_EVENT_RX_IND | fifo << 8);
/* Clear FIFO0 rx Flag */
SET_BIT(h_can->perh->RXF1, CAN_RXF1_FREE_MSK);
}
break;
}
}
/**
* @brief This function handles CAN interrupts.
*/
void CAN0_Handler(void)
{
rt_interrupt_enter();
rt_uint32_t errtype;
can_handle_t *h_can;
h_can = &can.CanHandle;
/* RX FIFO0 interrupt */
if ((ald_can_get_it_status(h_can, CAN_IT_FP0)) && (CAN_RX_MSG_PENDING(h_can, CAN_RX_FIFO0) != 0))
{
_can_rx_isr(&can.device, CAN_RX_FIFO0);
}
/* RX FIFO1 interrupt */
if ((ald_can_get_it_status(h_can, CAN_IT_FP1)) && (CAN_RX_MSG_PENDING(h_can, CAN_RX_FIFO1) != 0))
{
_can_rx_isr(&can.device, CAN_RX_FIFO1);
}
/* TX interrupt. transmit fifo0/1/2 is empty can trigger this interrupt */
if (ald_can_get_flag_status(h_can, CAN_FLAG_M0REQC) && ald_can_get_it_status(h_can, CAN_IT_TXM))
{
if (ald_can_get_flag_status(h_can, CAN_FLAG_M0TXC))
{
rt_hw_can_isr(&can.device, RT_CAN_EVENT_TX_DONE | 0 << 8);
}
else
{
rt_hw_can_isr(&can.device, RT_CAN_EVENT_TX_FAIL | 0 << 8);
}
/* Clear transmission status flag M0REQC */
ald_can_clear_flag_status(h_can, CAN_FLAG_M0REQC);
}
else if (ald_can_get_flag_status(h_can, CAN_FLAG_M1REQC) && ald_can_get_it_status(h_can, CAN_IT_TXM))
{
if (ald_can_get_flag_status(h_can, CAN_FLAG_M1TXC))
{
rt_hw_can_isr(&can.device, RT_CAN_EVENT_TX_DONE | 1 << 8);
}
else
{
rt_hw_can_isr(&can.device, RT_CAN_EVENT_TX_FAIL | 1 << 8);
}
ald_can_clear_flag_status(h_can, CAN_FLAG_M1REQC);
}
else if (ald_can_get_flag_status(h_can, CAN_FLAG_M2REQC) && ald_can_get_it_status(h_can, CAN_IT_TXM))
{
if (ald_can_get_flag_status(h_can, CAN_FLAG_M2REQC))
{
rt_hw_can_isr(&can.device, RT_CAN_EVENT_TX_DONE | 2 << 8);
}
else
{
rt_hw_can_isr(&can.device, RT_CAN_EVENT_TX_FAIL | 2 << 8);
}
ald_can_clear_flag_status(h_can, CAN_FLAG_M2REQC);
}
/* CAN error interrupt */
if (ald_can_get_flag_status(h_can, CAN_FLAG_ERR) && ald_can_get_it_status(h_can, CAN_IT_ERR))
{
errtype = h_can->perh->ERRSTAT;
switch ((errtype & 0x70) >> 4)
{
case RT_CAN_BUS_BIT_PAD_ERR:
can.device.status.bitpaderrcnt++;
break;
case RT_CAN_BUS_FORMAT_ERR:
can.device.status.formaterrcnt++;
break;
case RT_CAN_BUS_ACK_ERR:/* attention !!! test ack err's unit is transmit unit */
can.device.status.ackerrcnt++;
if (!READ_BIT(can.CanHandle.perh->TXSTAT, CAN_FLAG_M0TXC))
rt_hw_can_isr(&can.device, RT_CAN_EVENT_TX_FAIL | 0 << 8);
else if (!READ_BIT(can.CanHandle.perh->TXSTAT, CAN_FLAG_M0TXC))
rt_hw_can_isr(&can.device, RT_CAN_EVENT_TX_FAIL | 1 << 8);
else if (!READ_BIT(can.CanHandle.perh->TXSTAT, CAN_FLAG_M0TXC))
rt_hw_can_isr(&can.device, RT_CAN_EVENT_TX_FAIL | 2 << 8);
break;
case RT_CAN_BUS_IMPLICIT_BIT_ERR:
case RT_CAN_BUS_EXPLICIT_BIT_ERR:
can.device.status.biterrcnt++;
break;
case RT_CAN_BUS_CRC_ERR:
can.device.status.crcerrcnt++;
break;
}
can.device.status.lasterrtype = errtype & 0x70;
can.device.status.rcverrcnt = errtype >> 24;
can.device.status.snderrcnt = (errtype >> 16 & 0xFF);
can.device.status.errcode = errtype & 0x07;
h_can->perh->IFC |= CAN_IFC_ERRIFC_MSK;
}
rt_interrupt_leave();
}
int rt_hw_can_init(void)
{
gpio_init_t h_gpio;
struct can_configure config = CANDEFAULTCONFIG;
config.privmode = RT_CAN_MODE_NOPRIV;
config.ticks = 50;
#ifdef RT_CAN_USING_HDR
config.maxhdr = 14;
#endif
/* Initialize can common pin */
h_gpio.odos = GPIO_PUSH_PULL;
h_gpio.pupd = GPIO_PUSH_UP;
h_gpio.odrv = GPIO_OUT_DRIVE_NORMAL;
h_gpio.flt = GPIO_FILTER_DISABLE;
h_gpio.type = GPIO_TYPE_TTL;
h_gpio.func = GPIO_FUNC_4;
/* Initialize can rx pin */
h_gpio.mode = GPIO_MODE_INPUT;
ald_gpio_init(GPIOA, GPIO_PIN_11, &h_gpio);
/* Initialize can tx pin */
h_gpio.mode = GPIO_MODE_OUTPUT;
ald_gpio_init(GPIOA, GPIO_PIN_12, &h_gpio);
/* config default filter */
can_filter_t filter = {0};
filter.id_high = 0x0000;
filter.id_low = 0x0000;
filter.mask_id_high = 0x0000;
filter.mask_id_low = 0x0000;
filter.fifo = CAN_FILTER_FIFO0;
filter.number = 0;
filter.mode = CAN_FILTER_MODE_MASK;
filter.scale = CAN_FILTER_SCALE_32;
filter.active = ENABLE;
can.FilterConfig = filter;
can.device.config = config;
/* register CAN1 device */
rt_hw_can_register(&can.device, "can", &_can_ops, &can);
return 0;
}
INIT_BOARD_EXPORT(rt_hw_can_init);
#endif /* BSP_USING_CAN */
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