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SAMV71 MCAN: Add some mode-related initialization logic

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This commit is contained in:
Gregory Nutt 2015-08-02 14:51:01 -06:00
parent f5e7dd777e
commit cabe75a51d
2 changed files with 151 additions and 19 deletions
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60
arch/arm/src/samv7/Kconfig
View File

@ -1338,6 +1338,33 @@ config SAMV7_MCAN_CLKSRC_PRESCALER
menu "MCAN0 device driver options"
depends on SAMV7_MCAN0
choice
prompt "MCAN0 mode"
default SAMV7_MCAN0_ISO11899_1
config SAMV7_MCAN0_ISO11899_1
bool "ISO11898-1"
---help---
Enable ISO11898-1 mode
config SAMV7_MCAN0_FD
bool "FD"
---help---
Enable FD mode
config SAMV7_MCAN0_FD_BSW
bool "FD with fast bit rate switching"
---help---
Enable FD mode with fast bit rate switching mode.
endchoice # MCAN0 mode
config SAMV7_MCAN0_LOOPBACK
bool "Enable MCAN0 loopback mode"
default n
---help---
Enable the MCAN0 local loopback mode for testing purposes.
config SAMV7_MCAN0_BITRATE
int "MCAN0 bitrate"
default 500000
@ -1588,6 +1615,33 @@ endmenu # MCAN0 device driver options
menu "MCAN1 device driver options"
depends on SAMV7_MCAN1
choice
prompt "MCAN1 mode"
default SAMV7_MCAN1_ISO11899_1
config SAMV7_MCAN1_ISO11899_1
bool "ISO11898-1"
---help---
Enable ISO11898-1 mode
config SAMV7_MCAN1_FD
bool "FD"
---help---
Enable FD mode
config SAMV7_MCAN1_FD_BSW
bool "FD with fast bit rate switching"
---help---
Enable FD mode with fast bit rate switching mode.
endchoice # MCAN0 mode
config SAMV7_MCAN1_LOOPBACK
bool "Enable MCAN1 loopback mode"
default n
---help---
Enable the MCAN1 local loopback mode for testing purposes.
config SAMV7_MCAN1_BITRATE
int "MCAN1 bitrate"
default 500000
@ -1836,12 +1890,6 @@ config SAMV7_MCAN1_DEDICATED_TXFIFOQ_SIZE
endmenu # MCAN1 device driver options
config SAMV7_MCAN_LOOPBACK
bool "Enable loopback mode"
default n
---help---
Enable the MCAN local loopback mode for testing purposes.
config SAMV7_MCAN_REGDEBUG
bool "CAN Register level debug"
depends on DEBUG

110
arch/arm/src/samv7/sam_mcan.c
View File

@ -336,6 +336,13 @@
#endif /* CONFIG_SAMV7_MCAN0 */
/* Loopback mode */
#undef SAMV7_MCAN_LOOPBACK
#if defined(CONFIG_SAMV7_MCAN0_LOOPBACK) || defined(CONFIG_SAMV7_MCAN1_LOOPBACK)
# define SAMV7_MCAN_LOOPBACK 1
#endif
/* MCAN1 Configuration ******************************************************/
#ifdef CONFIG_SAMV7_MCAN1
@ -587,6 +594,15 @@
/****************************************************************************
* Private Types
****************************************************************************/
/* CAN mode of operation */
enum sam_canmode_e
{
MCAN_ISO11898_1_MODE = 0, /* CAN operation according to ISO11898-1 */
MCAN_FD_MODE = 1, /* CAN FD operation */
MCAN_FD_BSW_MODE = 2, /* CAN FD operation with bit rate switching */
};
/* This structure describes the MCAN message RAM layout */
struct sam_msgram_s
@ -615,6 +631,7 @@ struct sam_config_s
uint8_t port; /* MCAN port number (1 or 2) */
uint8_t pid; /* MCAN peripheral ID */
uint8_t irq; /* MCAN peripheral IRQ number */
uint8_t mode; /* See enum sam_canmode_e */
uint8_t nstdfilters; /* Number of standard filters (up to 128) */
uint8_t nextfilters; /* Number of extended filters (up to 64) */
uint8_t nfifo0; /* Number of FIFO0 elements (up to 64) */
@ -631,6 +648,9 @@ struct sam_config_s
uint8_t rxbufferesize; /* RX buffer element size */
uint8_t txbufferecode; /* Encoded TX buffer element size */
uint8_t txbufferesize; /* TX buffer element size */
#ifdef SAMV7_MCAN_LOOPBACK
bool loopback; /* True: Loopback mode */
#endif
/* MCAN message RAM layout */
@ -753,6 +773,13 @@ static const struct sam_config_s g_mcan0const =
.port = 0,
.pid = SAM_PID_MCAN00,
.irq = SAM_IRQ_MCAN00,
#if defined(CONFIG_SAMV7_MCAN0_ISO11899_1)
.mode = MCAN_ISO11898_1_MODE,
#if defined(CONFIG_SAMV7_MCAN0_FD)
.mode = MCAN_FD_MODE,
#else /* if defined(CONFIG_SAMV7_MCAN0_FD_BSW) */
.mode = MCAN_FD_BSW_MODE,
#endif
.nstdfilters = CONFIG_SAMV7_MCAN0_NSTDFILTERS,
.nextfitlers = CONFIG_SAMV7_MCAN0_NEXTFILTERS,
.nfifo0 = CONFIG_SAMV7_MCAN0_RXFIFO0_SIZE,
@ -770,6 +797,10 @@ static const struct sam_config_s g_mcan0const =
.txbufferecode = MCAN0_TXBUFFER_ENCODED_SIZE,
.txbufferesize = (MCAN0_TXBUFFER_ELEMENT_SIZE / 4) + 2,
#ifdef CONFIG_SAMV7_MCAN0_LOOPBACK
.loopback = true,
#endif
/* MCAN0 Message RAM */
.msgram =
@ -812,6 +843,13 @@ static const struct sam_config_s g_mcan1const =
.port = 1,
.pid = SAM_PID_MCAN10,
.irq = SAM_IRQ_MCAN10,
#if defined(CONFIG_SAMV7_MCAN1_ISO11899_1)
.mode = MCAN_ISO11898_1_MODE,
#if defined(CONFIG_SAMV7_MCAN1_FD)
.mode = MCAN_FD_MODE,
#else /* if defined(CONFIG_SAMV7_MCAN1_FD_BSW) */
.mode = MCAN_FD_BSW_MODE,
#endif
.nstdfilters = CONFIG_SAMV7_MCAN1_NSTDFILTERS,
.nextfitlers = CONFIG_SAMV7_MCAN1_NEXTFILTERS,
.nfifo0 = CONFIG_SAMV7_MCAN1_RXFIFO0_SIZE,
@ -829,6 +867,9 @@ static const struct sam_config_s g_mcan1const =
.txbufferecode = MCAN1_TXBUFFER_ENCODED_SIZE,
.txbufferesize = (MCAN0_TXBUFFER_ELEMENT_SIZE / 4) + 2,
#ifdef CONFIG_SAMV7_MCAN1_LOOPBACK
.loopback = true,
#endif
/* MCAN0 Message RAM */
.msgram =
@ -2289,6 +2330,7 @@ static int mcan_hwinitialize(struct sam_mcan_s *priv)
sam_configpio(config->rxpinset);
sam_configpio(config->txpinset);
#if 0 // REVISIT -- may apply only to SAMA5
/* Determine the maximum CAN peripheral clock frequency */
mck = BOARD_MCK_FREQUENCY;
@ -2322,11 +2364,13 @@ static int mcan_hwinitialize(struct sam_mcan_s *priv)
regval |= PMC_PCR_PID(config->pid) | PMC_PCR_CMD | PMC_PCR_EN;
mcan_putreg(priv, SAM_PMC_PCR, regval);
#endif
/* Enable peripheral clocking */
sam_enableperiph1(config->pid);
#if 0 // REVISIT -- may apply only to SAMA5
/* Disable all CAN interrupts */
mcan_putreg(priv, SAM_CAN_IDR_OFFSET, CAN_INT_ALL);
@ -2339,23 +2383,63 @@ static int mcan_hwinitialize(struct sam_mcan_s *priv)
candbg("ERROR: Failed to set bit timing: %d\n", ret);
return ret;
}
#endif
# error Missing SAMV71 MCAN initialization logic
/* The CAN controller is enabled by setting the CANEN flag in the CAN_MR
* register. At this stage, the internal CAN controller state machine is
* reset, error counters are reset to 0, error flags are reset to 0.
*/
/* Select FD mode with or without fast bit rate switching */
regval = mcan_getreg(priv, SAM_CAN_MR_OFFSET);
regval |= CAN_MR_CANEN;
mcan_putreg(priv, SAM_CAN_MR_OFFSET, regval);
regval = sam_getreg(priv, SAM_MCAN_CCCR_OFFSET);
regval &= ~MCAN_CCCR_CME_MASK;
/* Once the CAN controller is enabled, bus synchronization is done
* automatically by scanning eleven recessive bits. The WAKEUP bit in
* the CAN_SR register is automatically set to 1 when the CAN controller
* is synchronized (WAKEUP and SLEEP are stuck at 0 after a reset).
*/
switch (priv->mode)
{
default:
case CONFIG_MCAN_ISO11898_1_MODE:
regval |= MCAN_CCCR_CME_ISO11898_1;
break;
while ((mcan_getreg(priv, SAM_CAN_SR_OFFSET) & CAN_INT_WAKEUP) == 0);
case CONFIG_MCAN_FD_MODE:
regval |= MCAN_CCCR_CME_FD;
break;
case CONFIG_MCAN_FD_BSW_MODE:
regval |= MCAN_CCCR_CME_FD_BSW;
break;
}
sam_putreg(priv, SAM_MCAN_CCCR_OFFSET, regval);
/* Enable FIFO/Queue mode */
regval = sam_getreg(priv, SAM_MCAN_TXBC_OFFSET);
regval |= MCAN_TXBC_TFQM;
sam_putreg(priv, SAM_MCAN_TXBC_OFFSET, regval);
#ifdef SAMV7_MCAN_LOOPBACK
/* Is loopback mode selected for this peripheral? */
if (config->loopback)
{
/* MCAN_CCCR_TEST - Test mode enable
* MCAN_CCCR_MON - Bus monitoring mode (for internal loopback)
* MCAN_TEST_LBCK - Loopback mode
*/
regval = sam_getreg(priv, SAM_MCAN_CCCR_OFFSET);
regval |= (MCAN_CCCR_TEST | MCAN_CCCR_MON);
sam_putreg(priv, SAM_MCAN_CCCR_OFFSET, regval);
regval = sam_getreg(priv, SAM_MCAN_TEST_OFFSET);
regval |= MCAN_TEST_LBCK;
sam_putreg(priv, SAM_MCAN_TEST_OFFSET, regval);
}
#endif
/* Disable initialization mode to enable normal operation */
regval = sam_getreg(priv, SAM_MCAN_CCCR_OFFSET);
regval &= ~MCAN_CCCR_INIT;
sam_putreg(priv, SAM_MCAN_CCCR_OFFSET, regval);
return OK;
}