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Port STM32L4 CAN IOCTLs to STM32

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This commit is contained in:
Sebastien Lorquet 2016-06-24 11:53:17 +02:00
parent 613e3b0b2c
commit d3441668ee
2 changed files with 404 additions and 15 deletions
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393
arch/arm/src/stm32/stm32_can.c
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@ -125,6 +125,17 @@ static void stm32can_dumpfiltregs(FAR struct stm32_can_s *priv,
# define stm32can_dumpfiltregs(priv,msg) # define stm32can_dumpfiltregs(priv,msg)
#endif #endif
/* Filtering (todo) */
static int stm32l4can_addextfilter(FAR struct stm32l4_can_s *priv,
FAR struct canioc_extfilter_s *arg);
static int stm32l4can_delextfilter(FAR struct stm32l4_can_s *priv,
int arg);
static int stm32l4can_addstdfilter(FAR struct stm32l4_can_s *priv,
FAR struct canioc_stdfilter_s *arg);
static int stm32l4can_delstdfilter(FAR struct stm32l4_can_s *priv,
int arg);
/* CAN driver methods */ /* CAN driver methods */
static void stm32can_reset(FAR struct can_dev_s *dev); static void stm32can_reset(FAR struct can_dev_s *dev);
@ -786,9 +797,295 @@ static void stm32can_txint(FAR struct can_dev_s *dev, bool enable)
static int stm32can_ioctl(FAR struct can_dev_s *dev, int cmd, unsigned long arg) static int stm32can_ioctl(FAR struct can_dev_s *dev, int cmd, unsigned long arg)
{ {
/* No CAN ioctls are supported */ FAR struct stm32_can_s *priv;
int ret = -ENOTTY;
return -ENOTTY; caninfo("cmd=%04x arg=%lu\n", cmd, arg);
DEBUGASSERT(dev && dev->cd_priv);
priv = dev->cd_priv;
/* Handle the command */
switch (cmd)
{
/* CANIOC_GET_BITTIMING:
* Description: Return the current bit timing settings
* Argument: A pointer to a write-able instance of struct
* canioc_bittiming_s in which current bit timing
* values will be returned.
* 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_GET_BITTIMING:
{
FAR struct canioc_bittiming_s *bt =
(FAR struct canioc_bittiming_s *)arg;
uint32_t regval;
uint32_t brp;
DEBUGASSERT(bt != NULL);
regval = stm32can_getreg(priv, STM32_CAN_BTR_OFFSET);
bt->bt_sjw = ((regval & CAN_BTR_SJW_MASK) >> CAN_BTR_SJW_SHIFT) + 1;
bt->bt_tseg1 = ((regval & CAN_BTR_TS1_MASK) >> CAN_BTR_TS1_SHIFT) + 1;
bt->bt_tseg2 = ((regval & CAN_BTR_TS2_MASK) >> CAN_BTR_TS2_SHIFT) + 1;
brp = ((regval & CAN_BTR_BRP_MASK) >> CAN_BTR_BRP_SHIFT) + 1;
bt->bt_baud = STM32_PCLK1_FREQUENCY /
(brp * (bt->bt_tseg1 + bt->bt_tseg2 + 1));
ret = OK;
}
break;
/* CANIOC_SET_BITTIMING:
* Description: Set new current bit timing values
* Argument: A pointer to a read-able instance of struct
* canioc_bittiming_s in which the new bit timing
* values are provided.
* Returned Value: Zero (OK) is returned on success. Otherwise -1
* (ERROR)is returned with the errno variable set
* to indicate thenature of the error.
* Dependencies: None
*
* REVISIT: There is probably a limitation here: If there are multiple
* threads trying to send CAN packets, when one of these threads
* reconfigures the bitrate, the MCAN hardware will be reset and the
* context of operation will be lost. Hence, this IOCTL can only safely
* be executed in quiescent time periods.
*/
case CANIOC_SET_BITTIMING:
{
FAR const struct canioc_bittiming_s *bt =
(FAR const struct canioc_bittiming_s *)arg;
uint32_t brp;
uint32_t can_bit_quanta;
uint32_t tmp;
uint32_t regval;
DEBUGASSERT(bt != NULL);
DEBUGASSERT(bt->bt_baud < STM32_PCLK1_FREQUENCY);
DEBUGASSERT(bt->bt_sjw > 0 && bt->bt_sjw <= 4);
DEBUGASSERT(bt->bt_tseg1 > 0 && bt->bt_tseg1 <= 16);
DEBUGASSERT(bt->bt_tseg2 > 0 && bt->bt_tseg2 <= 8);
regval = stm32can_getreg(priv, STM32_CAN_BTR_OFFSET);
/* Extract bit timing data */
/* tmp is in clocks per bit time */
tmp = STM32_PCLK1_FREQUENCY / bt->bt_baud;
/* This value is dynamic as requested by user */
can_bit_quanta = bt->bt_tseg1 + bt->bt_tseg2 + 1;
if (tmp < can_bit_quanta)
{
/* This timing is not possible */
ret = -EINVAL;
}
/* Otherwise, nquanta is can_bit_quanta, ts1 and ts2 are
* provided by the user and we calculate brp to achieve
* can_bit_quanta quanta in the bit times
*/
else
{
brp = (tmp + (can_bit_quanta/2)) / can_bit_quanta;
DEBUGASSERT(brp >= 1 && brp <= CAN_BTR_BRP_MAX);
}
caninfo("TS1: %d TS2: %d BRP: %d\n", bt->bt_tseg1, bt->bt_tseg2, brp);
/* Configure bit timing. */
regval &= ~(CAN_BTR_BRP_MASK | CAN_BTR_TS1_MASK | CAN_BTR_TS2_MASK | CAN_BTR_SJW_MASK);
regval |= ((brp - 1) << CAN_BTR_BRP_SHIFT) |
((bt->bt_tseg1 - 1) << CAN_BTR_TS1_SHIFT) |
((bt->bt_tseg2 - 1) << CAN_BTR_TS2_SHIFT) |
((bt->bt_sjw - 1) << CAN_BTR_SJW_SHIFT);
/* Bit timing can only be configured in init mode. */
ret = stm32can_enterinitmode(priv);
if (ret != 0)
{
break;
}
stm32can_putreg(priv, STM32_CAN_BTR_OFFSET, regval);
ret = stm32can_exitinitmode(priv);
if (ret == 0)
{
priv->baud = STM32_PCLK1_FREQUENCY / (brp * (bt->bt_tseg1 + bt->bt_tseg2 + 1));
}
}
break;
/* CANIOC_GET_CONNMODES:
* Description: Get the current bus connection modes
* Argument: A pointer to a write-able instance of struct
* canioc_connmodes_s in which the new bus modes will
* be returned.
* 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_GET_CONNMODES:
{
FAR struct canioc_connmodes_s *bm =
(FAR struct canioc_connmodes_s *)arg;
uint32_t regval;
DEBUGASSERT(bm != NULL);
regval = stm32can_getreg(priv, STM32_CAN_BTR_OFFSET);
bm->bm_loopback = ((regval & CAN_BTR_LBKM) == CAN_BTR_LBKM);
bm->bm_silent = ((regval & CAN_BTR_SILM) == CAN_BTR_SILM);
ret = OK;
break;
}
/* CANIOC_SET_CONNMODES:
* Description: Set new bus connection modes values
* Argument: A pointer to a read-able instance of struct
* canioc_connmodes_s in which the new bus modes
* are provided.
* 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_CONNMODES:
{
FAR struct canioc_connmodes_s *bm =
(FAR struct canioc_connmodes_s *)arg;
uint32_t regval;
DEBUGASSERT(bm != NULL);
regval = stm32can_getreg(priv, STM32_CAN_BTR_OFFSET);
if (bm->bm_loopback)
{
regval |= CAN_BTR_LBKM;
}
else
{
regval &= ~CAN_BTR_LBKM;
}
if (bm->bm_silent)
{
regval |= CAN_BTR_SILM;
}
else
{
regval &= ~CAN_BTR_SILM;
}
/* This register can only be configured in init mode. */
ret = stm32can_enterinitmode(priv);
if (ret != 0)
{
break;
}
stm32can_putreg(priv, STM32_CAN_BTR_OFFSET, regval);
ret = stm32can_exitinitmode(priv);
}
break;
#ifdef CONFIG_CAN_EXTID
/* CANIOC_ADD_EXTFILTER:
* Description: Add an address filter for a extended 29 bit
* address.
* Argument: A reference to struct canioc_extfilter_s
* Returned Value: A non-negative filter ID is returned on success.
* Otherwise -1 (ERROR) is returned with the errno
* variable set to indicate the nature of the error.
*/
case CANIOC_ADD_EXTFILTER:
{
DEBUGASSERT(arg != 0);
ret = stm32can_addextfilter(priv, (FAR struct canioc_extfilter_s *)arg);
}
break;
/* CANIOC_DEL_EXTFILTER:
* Description: Remove an address filter for a standard 29 bit
* address.
* Argument: The filter index previously returned by the
* CANIOC_ADD_EXTFILTER command
* 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.
*/
case CANIOC_DEL_EXTFILTER:
{
DEBUGASSERT(arg <= priv->config->nextfilters);
ret = stm32can_delextfilter(priv, (int)arg);
}
break;
#endif
/* CANIOC_ADD_STDFILTER:
* Description: Add an address filter for a standard 11 bit
* address.
* Argument: A reference to struct canioc_stdfilter_s
* Returned Value: A non-negative filter ID is returned on success.
* Otherwise -1 (ERROR) is returned with the errno
* variable set to indicate the nature of the error.
*/
case CANIOC_ADD_STDFILTER:
{
DEBUGASSERT(arg != 0);
ret = stm32can_addstdfilter(priv, (FAR struct canioc_stdfilter_s *)arg);
}
break;
/* CANIOC_DEL_STDFILTER:
* Description: Remove an address filter for a standard 11 bit
* address.
* Argument: The filter index previously returned by the
* CANIOC_ADD_STDFILTER command
* 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.
*/
case CANIOC_DEL_STDFILTER:
{
DEBUGASSERT(arg <= priv->config->nstdfilters);
ret = stm32can_delstdfilter(priv, (int)arg);
}
break;
/* Unsupported/unrecognized command */
default:
canerr("ERROR: Unrecognized command: %04x\n", cmd);
break;
}
return ret;
} }
/**************************************************************************** /****************************************************************************
@ -1669,6 +1966,98 @@ static int stm32can_filterinit(FAR struct stm32_can_s *priv)
return OK; return OK;
} }
/****************************************************************************
* Name: stm32can_addextfilter
*
* Description:
* Add a filter for extended CAN IDs
*
* Input Parameter:
* priv - A pointer to the private data structure for this CAN block
* arg - A pointer to a structure describing the filter
*
* Returned Value:
* A non-negative filter ID is returned on success.
* Otherwise -1 (ERROR) is returned with the errno
* set to indicate the nature of the error.
*
****************************************************************************/
static int stm32can_addextfilter(FAR struct stm32_can_s *priv,
FAR struct canioc_extfilter_s *arg)
{
return -ENOTTY;
}
/****************************************************************************
* Name: stm32can_delextfilter
*
* Description:
* Remove a filter for extended CAN IDs
*
* Input Parameter:
* priv - A pointer to the private data structure for this CAN block
* arg - The filter index previously returned by the
* CANIOC_ADD_EXTFILTER command
*
* Returned Value:
* Zero (OK) is returned on success. Otherwise -1 (ERROR)
* returned with the errno variable set to indicate the
* of the error.
*
****************************************************************************/
static int stm32can_delextfilter(FAR struct stm32_can_s *priv, int arg)
{
return -ENOTTY;
}
/****************************************************************************
* Name: stm32can_addextfilter
*
* Description:
* Add a filter for standard CAN IDs
*
* Input Parameter:
* priv - A pointer to the private data structure for this CAN block
* arg - A pointer to a structure describing the filter
*
* Returned Value:
* A non-negative filter ID is returned on success.
* Otherwise -1 (ERROR) is returned with the errno
* set to indicate the nature of the error.
*
****************************************************************************/
static int stm32can_addstdfilter(FAR struct stm32_can_s *priv,
FAR struct canioc_stdfilter_s *arg)
{
return -ENOTTY;
}
/****************************************************************************
* Name: stm32can_delstdfilter
*
* Description:
* Remove a filter for standard CAN IDs
*
* Input Parameter:
* priv - A pointer to the private data structure for this CAN block
* arg - The filter index previously returned by the
* CANIOC_ADD_STDFILTER command
*
* Returned Value:
* Zero (OK) is returned on success. Otherwise -1 (ERROR)
* returned with the errno variable set to indicate the
* of the error.
*
****************************************************************************/
static int stm32can_delstdfilter(FAR struct stm32_can_s *priv, int arg)
{
return -ENOTTY;
}
/**************************************************************************** /****************************************************************************
* Public Functions * Public Functions
****************************************************************************/ ****************************************************************************/

26
arch/arm/src/stm32l4/stm32l4_can.c
View File

@ -128,6 +128,17 @@ static void stm32l4can_dumpfiltregs(FAR struct stm32l4_can_s *priv,
# define stm32l4can_dumpfiltregs(priv,msg) # define stm32l4can_dumpfiltregs(priv,msg)
#endif #endif
/* Filtering (todo) */
static int stm32l4can_addextfilter(FAR struct stm32l4_can_s *priv,
FAR struct canioc_extfilter_s *arg);
static int stm32l4can_delextfilter(FAR struct stm32l4_can_s *priv,
int arg);
static int stm32l4can_addstdfilter(FAR struct stm32l4_can_s *priv,
FAR struct canioc_stdfilter_s *arg);
static int stm32l4can_delstdfilter(FAR struct stm32l4_can_s *priv,
int arg);
/* CAN driver methods */ /* CAN driver methods */
static void stm32l4can_reset(FAR struct can_dev_s *dev); static void stm32l4can_reset(FAR struct can_dev_s *dev);
@ -157,17 +168,6 @@ static int stm32l4can_bittiming(FAR struct stm32l4_can_s *priv);
static int stm32l4can_cellinit(FAR struct stm32l4_can_s *priv); static int stm32l4can_cellinit(FAR struct stm32l4_can_s *priv);
static int stm32l4can_filterinit(FAR struct stm32l4_can_s *priv); static int stm32l4can_filterinit(FAR struct stm32l4_can_s *priv);
/* Filtering (todo) */
static int stm32l4can_addextfilter(FAR struct stm32l4_can_s *priv,
FAR struct canioc_extfilter_s *arg);
static int stm32l4can_delextfilter(FAR struct stm32l4_can_s *priv,
int arg);
static int stm32l4can_addstdfilter(FAR struct stm32l4_can_s *priv,
FAR struct canioc_stdfilter_s *arg);
static int stm32l4can_delstdfilter(FAR struct stm32l4_can_s *priv,
int arg);
/**************************************************************************** /****************************************************************************
* Private Data * Private Data
****************************************************************************/ ****************************************************************************/
@ -855,9 +855,9 @@ static int stm32l4can_ioctl(FAR struct can_dev_s *dev, int cmd,
ret = -EINVAL; ret = -EINVAL;
} }
/* Otherwise, nquanta is stm32l4can_bit_quanta, ts1 and ts2 are /* Otherwise, nquanta is can_bit_quanta, ts1 and ts2 are
* provided by the user and we calculate brp to achieve * provided by the user and we calculate brp to achieve
* stm32l4can_bit_quanta quanta in the bit times * can_bit_quanta quanta in the bit times
*/ */
else else