Port STM32L4 CAN IOCTLs to STM32
This commit is contained in:
Sebastien Lorquet
parent
613e3b0b2c
commit
d3441668ee
@ -125,6 +125,17 @@ static void stm32can_dumpfiltregs(FAR struct stm32_can_s *priv,
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# define stm32can_dumpfiltregs(priv,msg)
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#endif
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/* Filtering (todo) */
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static int stm32l4can_addextfilter(FAR struct stm32l4_can_s *priv,
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FAR struct canioc_extfilter_s *arg);
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static int stm32l4can_delextfilter(FAR struct stm32l4_can_s *priv,
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int arg);
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static int stm32l4can_addstdfilter(FAR struct stm32l4_can_s *priv,
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FAR struct canioc_stdfilter_s *arg);
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static int stm32l4can_delstdfilter(FAR struct stm32l4_can_s *priv,
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int arg);
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/* CAN driver methods */
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static void stm32can_reset(FAR struct can_dev_s *dev);
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@ -786,9 +797,295 @@ static void stm32can_txint(FAR struct can_dev_s *dev, bool enable)
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static int stm32can_ioctl(FAR struct can_dev_s *dev, int cmd, unsigned long arg)
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{
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/* No CAN ioctls are supported */
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FAR struct stm32_can_s *priv;
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int ret = -ENOTTY;
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return -ENOTTY;
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caninfo("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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/* CANIOC_GET_BITTIMING:
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* Description: Return the current bit timing settings
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* Argument: A pointer to a write-able instance of struct
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* canioc_bittiming_s in which current bit timing
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* values will be returned.
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* Returned Value: Zero (OK) is returned on success. Otherwise -1
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* (ERROR) is returned with the errno variable set
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* to indicate the nature of the error.
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* Dependencies: None
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*/
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case CANIOC_GET_BITTIMING:
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{
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FAR struct canioc_bittiming_s *bt =
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(FAR struct canioc_bittiming_s *)arg;
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uint32_t regval;
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uint32_t brp;
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DEBUGASSERT(bt != NULL);
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regval = stm32can_getreg(priv, STM32_CAN_BTR_OFFSET);
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bt->bt_sjw = ((regval & CAN_BTR_SJW_MASK) >> CAN_BTR_SJW_SHIFT) + 1;
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bt->bt_tseg1 = ((regval & CAN_BTR_TS1_MASK) >> CAN_BTR_TS1_SHIFT) + 1;
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bt->bt_tseg2 = ((regval & CAN_BTR_TS2_MASK) >> CAN_BTR_TS2_SHIFT) + 1;
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brp = ((regval & CAN_BTR_BRP_MASK) >> CAN_BTR_BRP_SHIFT) + 1;
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bt->bt_baud = STM32_PCLK1_FREQUENCY /
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(brp * (bt->bt_tseg1 + bt->bt_tseg2 + 1));
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ret = OK;
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}
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break;
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/* CANIOC_SET_BITTIMING:
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* Description: Set new current bit timing values
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* Argument: A pointer to a read-able instance of struct
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* canioc_bittiming_s in which the new bit timing
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* values are provided.
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* Returned Value: Zero (OK) is returned on success. Otherwise -1
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* (ERROR)is returned with the errno variable set
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* to indicate thenature of the error.
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* Dependencies: None
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*
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* REVISIT: There is probably a limitation here: If there are multiple
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* threads trying to send CAN packets, when one of these threads
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* reconfigures the bitrate, the MCAN hardware will be reset and the
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* context of operation will be lost. Hence, this IOCTL can only safely
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* be executed in quiescent time periods.
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*/
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case CANIOC_SET_BITTIMING:
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{
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FAR const struct canioc_bittiming_s *bt =
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(FAR const struct canioc_bittiming_s *)arg;
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uint32_t brp;
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uint32_t can_bit_quanta;
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uint32_t tmp;
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uint32_t regval;
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DEBUGASSERT(bt != NULL);
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DEBUGASSERT(bt->bt_baud < STM32_PCLK1_FREQUENCY);
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DEBUGASSERT(bt->bt_sjw > 0 && bt->bt_sjw <= 4);
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DEBUGASSERT(bt->bt_tseg1 > 0 && bt->bt_tseg1 <= 16);
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DEBUGASSERT(bt->bt_tseg2 > 0 && bt->bt_tseg2 <= 8);
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regval = stm32can_getreg(priv, STM32_CAN_BTR_OFFSET);
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/* Extract bit timing data */
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/* tmp is in clocks per bit time */
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tmp = STM32_PCLK1_FREQUENCY / bt->bt_baud;
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/* This value is dynamic as requested by user */
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can_bit_quanta = bt->bt_tseg1 + bt->bt_tseg2 + 1;
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if (tmp < can_bit_quanta)
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{
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/* This timing is not possible */
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ret = -EINVAL;
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}
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/* Otherwise, nquanta is can_bit_quanta, ts1 and ts2 are
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* provided by the user and we calculate brp to achieve
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* can_bit_quanta quanta in the bit times
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*/
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else
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{
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brp = (tmp + (can_bit_quanta/2)) / can_bit_quanta;
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DEBUGASSERT(brp >= 1 && brp <= CAN_BTR_BRP_MAX);
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}
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caninfo("TS1: %d TS2: %d BRP: %d\n", bt->bt_tseg1, bt->bt_tseg2, brp);
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/* Configure bit timing. */
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regval &= ~(CAN_BTR_BRP_MASK | CAN_BTR_TS1_MASK | CAN_BTR_TS2_MASK | CAN_BTR_SJW_MASK);
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regval |= ((brp - 1) << CAN_BTR_BRP_SHIFT) |
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((bt->bt_tseg1 - 1) << CAN_BTR_TS1_SHIFT) |
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((bt->bt_tseg2 - 1) << CAN_BTR_TS2_SHIFT) |
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((bt->bt_sjw - 1) << CAN_BTR_SJW_SHIFT);
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/* Bit timing can only be configured in init mode. */
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ret = stm32can_enterinitmode(priv);
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if (ret != 0)
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{
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break;
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}
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stm32can_putreg(priv, STM32_CAN_BTR_OFFSET, regval);
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ret = stm32can_exitinitmode(priv);
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if (ret == 0)
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{
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priv->baud = STM32_PCLK1_FREQUENCY / (brp * (bt->bt_tseg1 + bt->bt_tseg2 + 1));
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}
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}
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break;
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/* CANIOC_GET_CONNMODES:
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* Description: Get the current bus connection modes
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* Argument: A pointer to a write-able instance of struct
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* canioc_connmodes_s in which the new bus modes will
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* be returned.
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* Returned Value: Zero (OK) is returned on success. Otherwise -1
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* (ERROR)is returned with the errno variable set
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* to indicate the nature of the error.
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* Dependencies: None
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*/
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case CANIOC_GET_CONNMODES:
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{
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FAR struct canioc_connmodes_s *bm =
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(FAR struct canioc_connmodes_s *)arg;
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uint32_t regval;
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DEBUGASSERT(bm != NULL);
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regval = stm32can_getreg(priv, STM32_CAN_BTR_OFFSET);
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bm->bm_loopback = ((regval & CAN_BTR_LBKM) == CAN_BTR_LBKM);
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bm->bm_silent = ((regval & CAN_BTR_SILM) == CAN_BTR_SILM);
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ret = OK;
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break;
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}
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/* CANIOC_SET_CONNMODES:
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* Description: Set new bus connection modes values
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* Argument: A pointer to a read-able instance of struct
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* canioc_connmodes_s in which the new bus modes
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* are provided.
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* Returned Value: Zero (OK) is returned on success. Otherwise -1
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* (ERROR) is returned with the errno variable set
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* to indicate the nature of the error.
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* Dependencies: None
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*/
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case CANIOC_SET_CONNMODES:
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{
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FAR struct canioc_connmodes_s *bm =
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(FAR struct canioc_connmodes_s *)arg;
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uint32_t regval;
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DEBUGASSERT(bm != NULL);
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regval = stm32can_getreg(priv, STM32_CAN_BTR_OFFSET);
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if (bm->bm_loopback)
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{
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regval |= CAN_BTR_LBKM;
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}
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else
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{
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regval &= ~CAN_BTR_LBKM;
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}
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if (bm->bm_silent)
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{
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regval |= CAN_BTR_SILM;
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}
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else
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{
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regval &= ~CAN_BTR_SILM;
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}
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/* This register can only be configured in init mode. */
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ret = stm32can_enterinitmode(priv);
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if (ret != 0)
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{
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break;
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}
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stm32can_putreg(priv, STM32_CAN_BTR_OFFSET, regval);
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ret = stm32can_exitinitmode(priv);
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}
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break;
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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 29 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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DEBUGASSERT(arg != 0);
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ret = stm32can_addextfilter(priv, (FAR struct canioc_extfilter_s *)arg);
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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 29 bit
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* 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
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* (ERROR)is returned with the errno variable set
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* to indicate the 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 = stm32can_delextfilter(priv, (int)arg);
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}
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break;
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#endif
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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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DEBUGASSERT(arg != 0);
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ret = stm32can_addstdfilter(priv, (FAR struct canioc_stdfilter_s *)arg);
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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
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* 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
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* (ERROR) is returned with the errno variable set
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* to indicate the 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 = stm32can_delstdfilter(priv, (int)arg);
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}
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break;
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/* Unsupported/unrecognized command */
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default:
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canerr("ERROR: Unrecognized command: %04x\n", cmd);
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break;
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}
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return ret;
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}
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/****************************************************************************
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@ -1669,6 +1966,98 @@ static int stm32can_filterinit(FAR struct stm32_can_s *priv)
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return OK;
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}
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/****************************************************************************
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* Name: stm32can_addextfilter
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*
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* Description:
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* Add a filter for extended CAN IDs
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*
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* Input Parameter:
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* priv - A pointer to the private data structure for this CAN block
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* arg - A pointer to a structure describing the filter
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*
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* Returned Value:
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* 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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* set to indicate the nature of the error.
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*
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****************************************************************************/
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static int stm32can_addextfilter(FAR struct stm32_can_s *priv,
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FAR struct canioc_extfilter_s *arg)
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{
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return -ENOTTY;
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}
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/****************************************************************************
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* Name: stm32can_delextfilter
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*
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* Description:
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* Remove a filter for extended CAN IDs
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*
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* Input Parameter:
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* priv - A pointer to the private data structure for this CAN block
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* arg - The filter index previously returned by the
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* CANIOC_ADD_EXTFILTER command
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*
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* Returned Value:
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* Zero (OK) is returned on success. Otherwise -1 (ERROR)
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* returned with the errno variable set to indicate the
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* of the error.
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*
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****************************************************************************/
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static int stm32can_delextfilter(FAR struct stm32_can_s *priv, int arg)
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{
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return -ENOTTY;
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}
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/****************************************************************************
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* Name: stm32can_addextfilter
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*
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* Description:
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* Add a filter for standard CAN IDs
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*
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* Input Parameter:
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* priv - A pointer to the private data structure for this CAN block
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* arg - A pointer to a structure describing the filter
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*
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* Returned Value:
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* 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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* set to indicate the nature of the error.
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*
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****************************************************************************/
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static int stm32can_addstdfilter(FAR struct stm32_can_s *priv,
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FAR struct canioc_stdfilter_s *arg)
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{
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return -ENOTTY;
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}
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/****************************************************************************
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* Name: stm32can_delstdfilter
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*
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* Description:
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* Remove a filter for standard CAN IDs
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*
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* Input Parameter:
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* priv - A pointer to the private data structure for this CAN block
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* arg - The filter index previously returned by the
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* CANIOC_ADD_STDFILTER command
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*
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* Returned Value:
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* Zero (OK) is returned on success. Otherwise -1 (ERROR)
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* returned with the errno variable set to indicate the
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* of the error.
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*
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****************************************************************************/
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static int stm32can_delstdfilter(FAR struct stm32_can_s *priv, int arg)
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{
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return -ENOTTY;
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}
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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@ -128,6 +128,17 @@ static void stm32l4can_dumpfiltregs(FAR struct stm32l4_can_s *priv,
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# define stm32l4can_dumpfiltregs(priv,msg)
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#endif
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/* Filtering (todo) */
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static int stm32l4can_addextfilter(FAR struct stm32l4_can_s *priv,
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FAR struct canioc_extfilter_s *arg);
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static int stm32l4can_delextfilter(FAR struct stm32l4_can_s *priv,
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int arg);
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static int stm32l4can_addstdfilter(FAR struct stm32l4_can_s *priv,
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FAR struct canioc_stdfilter_s *arg);
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static int stm32l4can_delstdfilter(FAR struct stm32l4_can_s *priv,
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int arg);
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/* CAN driver methods */
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static void stm32l4can_reset(FAR struct can_dev_s *dev);
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@ -157,17 +168,6 @@ static int stm32l4can_bittiming(FAR struct stm32l4_can_s *priv);
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static int stm32l4can_cellinit(FAR struct stm32l4_can_s *priv);
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static int stm32l4can_filterinit(FAR struct stm32l4_can_s *priv);
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/* Filtering (todo) */
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static int stm32l4can_addextfilter(FAR struct stm32l4_can_s *priv,
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FAR struct canioc_extfilter_s *arg);
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static int stm32l4can_delextfilter(FAR struct stm32l4_can_s *priv,
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int arg);
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static int stm32l4can_addstdfilter(FAR struct stm32l4_can_s *priv,
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FAR struct canioc_stdfilter_s *arg);
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static int stm32l4can_delstdfilter(FAR struct stm32l4_can_s *priv,
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int arg);
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/****************************************************************************
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* Private Data
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****************************************************************************/
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@ -855,9 +855,9 @@ static int stm32l4can_ioctl(FAR struct can_dev_s *dev, int cmd,
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ret = -EINVAL;
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}
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/* Otherwise, nquanta is stm32l4can_bit_quanta, ts1 and ts2 are
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/* Otherwise, nquanta is can_bit_quanta, ts1 and ts2 are
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* provided by the user and we calculate brp to achieve
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* stm32l4can_bit_quanta quanta in the bit times
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* can_bit_quanta quanta in the bit times
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*/
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else
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