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SAMA5D2 add new mcan ioctls

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TimJTi 2023-09-26 16:07:54 +01:00 committed by Xiang Xiao
parent b565e28da3
commit bfa14406d6
1 changed files with 188 additions and 12 deletions
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200
arch/arm/src/sama5/sam_mcan.c
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@ -878,17 +878,17 @@ struct sam_mcan_s
const struct sam_config_s *config;
enum can_state_s state; /* See enum can_state_s */
enum can_state_s state; /* See enum can_state_s */
#ifdef CONFIG_CAN_EXTID
uint8_t nextalloc; /* Number of allocated extended filters */
uint8_t nextalloc; /* Number of allocated extended filters */
#endif
uint8_t nstdalloc; /* Number of allocated standard filters */
mutex_t lock; /* Enforces mutually exclusive access */
sem_t txfsem; /* Used to wait for TX FIFO availability */
uint32_t btp; /* Current bit timing */
uint32_t fbtp; /* Current fast bit timing */
uint32_t rxints; /* Configured RX interrupts */
uint32_t txints; /* Configured TX interrupts */
uint8_t nstdalloc; /* Number of allocated standard filters */
mutex_t lock; /* Enforces mutually exclusive access */
sem_t txfsem; /* Used to wait for TX FIFO availability */
uint32_t btp; /* Current bit timing */
uint32_t fbtp; /* Current fast bit timing */
uint32_t rxints; /* Configured RX interrupts */
uint32_t txints; /* Configured TX interrupts */
#ifdef CONFIG_CAN_EXTID
uint32_t extfilters[2]; /* Extended filter bit allocator. 2*32=64 */
@ -936,6 +936,10 @@ static int mcan_add_stdfilter(struct sam_mcan_s *priv,
struct canioc_stdfilter_s *stdconfig);
static int mcan_del_stdfilter(struct sam_mcan_s *priv, int ndx);
static int mcan_set_nart(struct sam_mcan_s *priv, bool enable);
static int mcan_cancel_tx_buffers(struct sam_mcan_s *priv);
static int mcan_cancel_rx_fifos(struct sam_mcan_s *priv);
/* CAN driver methods */
static void mcan_reset(struct can_dev_s *dev);
@ -2838,6 +2842,69 @@ static int mcan_ioctl(struct can_dev_s *dev, int cmd, unsigned long arg)
}
break;
/* CANIOC_SET_NART:
* Description: Enable/Disable NART (No Automatic Retry)
* Argument: Set to 1 to enable NART, 0 to disable.
* Default is disabled.
* Returned Value: Zero (OK) is returned on success. Otherwise -1
* (ERROR) is returned with the errno variable set
* to indicate the nature of the error.
* Dependencies: None
*/
case CANIOC_SET_NART:
{
ret = mcan_set_nart(priv, (bool)arg);
}
break;
/* CANIOC_IFLUSH
* Description: Flush data received but not read
* Argument: None
* Returned Value: Zero (OK) is returned on success. Otherwise -1
* (ERROR) is returned with the errno variable set
* to indicate the nature of the error.
* Dependencies: None
*/
case CANIOC_IFLUSH:
{
ret = mcan_cancel_rx_fifos(priv);
}
break;
/* CANIOC_OFLUSH
* Description: Flush data queued but not transmitted
* Argument: None
* Returned Value: Zero (OK) is returned on success. Otherwise -1
* (ERROR) is returned with the errno variable set
* to indicate the nature of the error.
* Dependencies: None
*/
case CANIOC_OFLUSH:
{
ret = mcan_cancel_tx_buffers(priv);
}
break;
/* CANIOC_IOFLUSH
* Description: Flush data received but not read, and data queued
but not transmitted
* Argument: None
* Returned Value: Zero (OK) is returned on success. Otherwise -1
* (ERROR) is returned with the errno variable set
* to indicate the nature of the error.
* Dependencies: None
*/
case CANIOC_IOFLUSH:
{
ret = mcan_cancel_tx_buffers(priv);
ret = mcan_cancel_rx_fifos(priv);
}
break;
/* Unsupported/unrecognized command */
default:
@ -2876,7 +2943,8 @@ static int mcan_remoterequest(struct can_dev_s *dev, uint16_t id)
* Send one can message.
*
* One CAN-message consists of a maximum of 10 bytes. A message is
* composed of at least the first 2 bytes (when there are no data bytes).
* composed of at least the && priv->config != NULLfirst 2 bytes
* (when there are no data bytes).
*
* Byte 0: Bits 0-7: Bits 3-10 of the 11-bit CAN identifier
* Byte 1: Bits 5-7: Bits 0-2 of the 11-bit CAN identifier
@ -3380,6 +3448,114 @@ static void mcan_error(struct can_dev_s *dev, uint32_t status)
}
#endif /* CONFIG_CAN_ERRORS */
/****************************************************************************
* Name: mcan_set_nart
*
* Description:
* Enable/Disable NART (No Automatic Retry),
* AKA "DAR" - Disable Automatic Retry
*
* Input Parameters:
* priv - An instance of the MCAN driver state structure.
* enable - enable or disable.
*
* Returned Value:
* Zero on success; a negated errno on failure
*
****************************************************************************/
static int mcan_set_nart(struct sam_mcan_s *priv, bool enable)
{
uint32_t regval;
DEBUGASSERT(priv != NULL);
regval = mcan_getreg(priv, SAM_MCAN_CCCR_OFFSET);
if (enable)
{
regval |= MCAN_CCCR_DAR;
}
else
{
regval &= ~MCAN_CCCR_DAR;
}
mcan_putreg(priv, SAM_MCAN_CCCR_OFFSET, regval);
return OK;
}
/****************************************************************************
* Name: mcan_cancel_tx_buffers
*
* Description:
* Cancel all pending, buffered, transmissions
*
* Input Parameters:
* priv - An instance of the MCAN driver state structure.
*
* Returned Value:
* Success
*
****************************************************************************/
static int mcan_cancel_tx_buffers(struct sam_mcan_s *priv)
{
uint32_t regval;
DEBUGASSERT(priv != NULL);
mcan_putreg(priv, SAM_MCAN_TXBCR_OFFSET, 0xffff);
do
{
regval = mcan_getreg(priv, SAM_MCAN_TXBRP_OFFSET);
}
while (regval != 0);
return OK;
}
/****************************************************************************
* Name: mcan_cancel_rx_fifos
*
* Description:
* Cancel all queued/received messages
*
* Input Parameters:
* priv - An instance of the MCAN driver state structure.
*
* Returned Value:
* Success
*
****************************************************************************/
static int mcan_cancel_rx_fifos(struct sam_mcan_s *priv)
{
uint32_t ir;
uint32_t ie;
uint32_t pending;
DEBUGASSERT(priv != NULL);
mcan_putreg(priv, SAM_MCAN_RXF0A_OFFSET, 0);
mcan_putreg(priv, SAM_MCAN_RXF1A_OFFSET, 0);
/* Clear RX interrupts */
ir = mcan_getreg(priv, SAM_MCAN_IR_OFFSET);
ie = mcan_getreg(priv, SAM_MCAN_IE_OFFSET);
pending = (ir & ie);
if ((pending & priv->rxints) != 0)
{
mcan_putreg(priv, SAM_MCAN_IR_OFFSET, priv->rxints);
}
return OK;
}
/****************************************************************************
* Name: mcan_receive
*
@ -3713,7 +3889,7 @@ static int mcan_interrupt(int irq, void *context, void *arg)
/* Check if there is anything in RX FIFO1 */
regval = mcan_getreg(priv, SAM_MCAN_RXF1S_OFFSET);
nelem = (regval & MCAN_RXF0S_F0FL_MASK) >> MCAN_RXF0S_F0FL_SHIFT;
nelem = (regval & MCAN_RXF1S_F1FL_MASK) >> MCAN_RXF1S_F1FL_SHIFT;
if (nelem == 0)
{
/* Break out of the loop if RX FIFO1 is empty */
@ -3729,7 +3905,7 @@ static int mcan_interrupt(int irq, void *context, void *arg)
ndx = (regval & MCAN_RXF1S_F1GI_MASK) >> MCAN_RXF1S_F1GI_SHIFT;
if ((regval & MCAN_RXF0S_RF0L) != 0)
if ((regval & MCAN_RXF1S_RF1L) != 0)
{
canerr("ERROR: Message lost: %08" PRIx32 "\n", regval);
}