SAMV7 MCAH: Add support for IOCTL commands that manage filters
This commit is contained in:
Gregory Nutt
parent
d824223736
commit
bb47c7f80e
@ -866,6 +866,12 @@ struct sam_mcan_s
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uint32_t rxints; /* Configured RX interrupts */
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uint32_t txints; /* Configured TX interrupts */
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#ifdef CONFIG_CAN_EXTID
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uint32_t extfilters[2]; /* Extended filter bit allocator. 2*32=64 */
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#else
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uint32_t stdfilters[4]; /* Standard filter bit allocator. 4*32=128 */
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#endif
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#ifdef CONFIG_SAMV7_MCAN_REGDEBUG
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uintptr_t regaddr; /* Last register address read */
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uint32_t regval; /* Last value read from the register */
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@ -903,6 +909,14 @@ static uint8_t mcan_dlc2bytes(FAR struct sam_mcan_s *priv, uint8_t dlc);
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static uint8_t mcan_bytes2dlc(FAR struct sam_mcan_s *priv, uint8_t nbytes);
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#endif
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#ifdef CONFIG_CAN_EXTID
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static int mcan_add_extfilter(FAR struct sam_mcan_s *priv, uint32_t id,
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uint32_t mask);
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static int mcan_del_extfilter(FAR struct sam_mcan_s *priv, int ndx);
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#else
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static int mcan_add_stdfilter(FAR struct sam_mcan_s *priv, uint16_t id);
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static int mcan_del_stdfilter(FAR struct sam_mcan_s *priv, int ndx);
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#endif
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/* CAN driver methods */
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static void mcan_reset(FAR struct can_dev_s *dev);
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@ -1480,6 +1494,239 @@ static uint8_t mcan_bytes2dlc(FAR struct sam_mcan_s *priv, uint8_t nbytes)
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}
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#endif
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/****************************************************************************
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* Name: mcan_add_extfilter
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*
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* Description:
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* Add an address filter for a extended 28 bit address.
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*
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* Input Parameters:
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* priv - An instance of the MCAN driver state structure.
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* id - The 28-bit extended address to filter
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* mask - A 28-bit extended address mask
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*
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* Returned Value:
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* A non-negative filter ID is returned on success. Otherwise a negated
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* errno value is returned to indicate the nature of the error.
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*
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****************************************************************************/
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#ifdef CONFIG_CAN_EXTID
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static int mcan_add_extfilter(FAR struct sam_mcan_s *priv, uint32_t id,
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uint32_t mask)
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{
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FAR const struct sam_config_s *config;
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FAR uint32_t *extfilter;
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uint32_t regval;
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int word;
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int bit;
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int ndx;
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DEBUGASSERT(priv != NULL && priv->config != NULL &&
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id < (1 << 28) && mask < (1 << 28));
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config = priv->config;
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/* Get exclusive excess to the MCAN hardware */
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mcan_dev_lock(priv);
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/* Find an unused standard filter */
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for (ndx = 0; ndx < config->nextfilters; ndx++)
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{
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/* Is this filter assigned? */
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word = ndx >> 5;
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bit = ndx & 0x1f;
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if ((priv->extfilters[word] & (1 << bit)) == 0)
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{
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/* No, then this is the one that we will use */
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extfilter = config->msgram.extfilters + (ndx << 1);
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/* REVISIT: Here we use only FIFO0. */
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extfilter[0] = EXTFILTER_F0_EFEC_FIFO0 | EXTFILTER_F0_EFID1(id);
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extfilter[1] = EXTFILTER_F1_EFT_CLASSIC | mask;
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/* Flush the filter entry into physical RAM */
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arch_clean_dcache((uintptr_t)extfilter, (uintptr_t)exfilter + 8);
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mcan_dev_unlock(priv);
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return ndx;
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}
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}
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mcan_dev_unlock(priv);
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return -EAGAIN;
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}
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#endif
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/****************************************************************************
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* Name: mcan_del_extfilter
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*
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* Description:
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* Remove an address filter for a standard 28 bit address.
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*
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* Input Parameters:
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* priv - An instance of the MCAN driver state structure.
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* ndx - The filter index previously returned by the mcan_add_extfilter().
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*
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* Returned Value:
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* Zero (OK) is returned on success. Otherwise a negated errno value is
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* returned to indicate the nature of the error.
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*
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****************************************************************************/
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#ifdef CONFIG_CAN_EXTID
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static int mcan_del_extfilter(FAR struct sam_mcan_s *priv, int ndx)
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{
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FAR const struct sam_config_s *config;
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FAR uint32_t *extfilter;
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int word;
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int bit;
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DEBUGASSERT(priv != NULL && priv->config != NULL);
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config = priv->config;
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DEBUGASSERT(ndx < config->nextfilters);
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/* Get exclusive excess to the MCAN hardware */
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mcan_dev_lock(priv);
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/* Deactivate the filter */
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extfilter = config->msgram.extfilters + (ndx << 1);
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*extfilter++ = 0;
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*extfilter = 0;
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/* Release the filter */
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word = ndx >> 5;
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bit = ndx & 0x1f;
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priv->extfilters[word] &= ~(1 << bit);
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mcan_dev_unlock(priv);
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return OK;
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}
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#endif
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/****************************************************************************
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* Name: mcan_add_stdfilter
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*
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* Description:
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* Add an address filter for a standard 11 bit address.
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*
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* Input Parameters:
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* priv - An instance of the MCAN driver state structure.
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* id - The 11-bit extended address to filter
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*
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* Returned Value:
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* A non-negative filter ID is returned on success. Otherwise a negated
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* errno value is returned to indicate the nature of the error.
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*
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****************************************************************************/
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#ifndef CONFIG_CAN_EXTID
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static int mcan_add_stdfilter(FAR struct sam_mcan_s *priv, uint16_t id)
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{
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FAR const struct sam_config_s *config;
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FAR uint32_t *stdfilter;
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uint32_t regval;
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int word;
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int bit;
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int ndx;
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DEBUGASSERT(priv != NULL && priv->config != NULL && id < (1 << 11));
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config = priv->config;
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/* Get exclusive excess to the MCAN hardware */
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mcan_dev_lock(priv);
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/* Find an unused standard filter */
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for (ndx = 0; ndx < config->nstdfilters; ndx++)
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{
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/* Is this filter assigned? */
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word = ndx >> 5;
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bit = ndx & 0x1f;
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if ((priv->stdfilters[word] & (1 << bit)) == 0)
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{
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/* No, then this is the one that we will use */
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stdfilter = config->msgram.stdfilters + ndx;
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regval = STDFILTER_S0_SFT_CLASSIC | STDFILTER_S0_SFID1(id);
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/* REVISIT: Here we use only FIFO0. */
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regval |= STDFILTER_S0_SFEC_FIFO0;
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*stdfilter = regval;
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/* Flush the filter entry into physical RAM */
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arch_clean_dcache((uintptr_t)stdfilter, (uintptr_t)stdfilter + 4);
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mcan_dev_unlock(priv);
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return ndx;
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}
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}
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mcan_dev_unlock(priv);
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return -EAGAIN;
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}
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#endif
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/****************************************************************************
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* Name: mcan_del_stdfilter
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*
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* Description:
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* Remove an address filter for a standard 28 bit address.
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*
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* Input Parameters:
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* priv - An instance of the MCAN driver state structure.
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* ndx - The filter index previously returned by the mcan_add_stdfilter().
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*
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* Returned Value:
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* Zero (OK) is returned on success. Otherwise a negated errno value is
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* returned to indicate the nature of the error.
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*
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****************************************************************************/
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#ifndef CONFIG_CAN_EXTID
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static int mcan_del_stdfilter(FAR struct sam_mcan_s *priv, int ndx)
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{
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FAR const struct sam_config_s *config;
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FAR uint32_t *stdfilter;
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int word;
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int bit;
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DEBUGASSERT(priv != NULL && priv->config != NULL);
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config = priv->config;
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DEBUGASSERT(ndx < config->nstdfilters);
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/* Get exclusive excess to the MCAN hardware */
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mcan_dev_lock(priv);
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/* Deactivate the filter */
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stdfilter = config->msgram.stdfilters + ndx;
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*stdfilter = 0;
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/* Release the filter */
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word = ndx >> 5;
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bit = ndx & 0x1f;
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priv->stdfilters[word] &= ~(1 << bit);
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mcan_dev_unlock(priv);
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return OK;
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}
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#endif
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/****************************************************************************
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* Name: mcan_reset
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*
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@ -1753,9 +2000,99 @@ static void mcan_txint(FAR struct can_dev_s *dev, bool enable)
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static int mcan_ioctl(FAR struct can_dev_s *dev, int cmd, unsigned long arg)
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{
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FAR struct sam_mcan_s *priv;
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int ret = -ENOTTY;
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canvdbg("cmd=%04x arg=%lu\n", cmd, arg);
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DEBUGASSERT(dev && dev->cd_priv);
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priv = dev->cd_priv;
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/* Handle the command */
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switch (cmd)
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{
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#ifdef CONFIG_CAN_EXTID
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/* CANIOC_ADD_EXTFILTER:
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* Description: Add an address filter for a extended 28 bit
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* address.
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* Argument: A reference to struct canioc_extfilter_s
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* Returned Value: A non-negative filter ID is returned on success.
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* Otherwise -1 (ERROR) is returned with the errno
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* variable set to indicate the nature of the error.
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*/
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case CANIOC_ADD_EXTFILTER:
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{
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FAR struct canioc_extfilter_s *extfilter =
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(FAR struct canioc_extfilter_s *)arg;
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ret = mcan_add_extfilter(priv, extfilter->xf_id, extfilter->xf_mask);
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}
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break;
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/* CANIOC_DEL_EXTFILTER:
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* Description: Remove an address filter for a standard 28 bit address.
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* Argument: The filter index previously returned by the
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* CANIOC_ADD_EXTFILTER command
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* Returned Value: Zero (OK) is returned on success. Otherwise -1 (ERROR)
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* is returned with the errno variable set to indicate the
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* nature of the error.
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*/
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case CANIOC_DEL_EXTFILTER:
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{
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DEBUGASSERT(arg <= priv->config->nextfilters);
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ret = mcan_del_extfilter(priv, (int)arg);
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}
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break;
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#else
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/* CANIOC_ADD_STDFILTER:
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* Description: Add an address filter for a standard 11 bit
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* address.
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* Argument: A reference to struct canioc_stdfilter_s
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* Returned Value: A non-negative filter ID is returned on success.
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* Otherwise -1 (ERROR) is returned with the errno
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* variable set to indicate the nature of the error.
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*/
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case CANIOC_ADD_STDFILTER:
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{
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FAR struct canioc_stdfilter_s *stdfilter =
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(FAR struct canioc_stdfilter_s *)arg;
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ret = mcan_add_stdfilter(priv, stdfilter->sf_id);
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}
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break;
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/* CANIOC_DEL_STDFILTER:
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* Description: Remove an address filter for a standard 11 bit address.
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* Argument: The filter index previously returned by the
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* CANIOC_ADD_STDFILTER command
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* Returned Value: Zero (OK) is returned on success. Otherwise -1 (ERROR)
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* is returned with the errno variable set to indicate the
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* nature of the error.
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*/
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case CANIOC_DEL_STDFILTER:
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{
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DEBUGASSERT(arg <= priv->config->nstdfilters);
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ret = mcan_del_stdfilter(priv, (int)arg);
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}
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break;
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#endif
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/* Unsupported/unrecognized command */
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default:
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candbg("ERROR: Unrecognized command: %04x\n", cmd);
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break;
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}
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/* No CAN ioctls are supported */
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return -ENOTTY;
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return ret;
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}
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/****************************************************************************
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