/************************************************************************************ * arch/arm/src/stm32/stm32_can.c * * Copyright (C) 2011, 2016 Gregory Nutt. All rights reserved. * Author: Gregory Nutt * * Copyright (C) 2016 Omni Hoverboards Inc. All rights reserved. * Author: Paul Alexander Patience * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * 1. Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the * distribution. * 3. Neither the name NuttX nor the names of its contributors may be * used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. * ************************************************************************************/ /**************************************************************************** * Included Files ****************************************************************************/ #include #include #include #include #include #include #include #include #include #include #include #include #include "up_internal.h" #include "up_arch.h" #include "chip.h" #include "stm32.h" #include "stm32_can.h" #if defined(CONFIG_CAN) && (defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2)) /**************************************************************************** * Pre-processor Definitions ****************************************************************************/ /* Delays *******************************************************************/ /* Time out for INAK bit */ #define INAK_TIMEOUT 65535 /* Mailboxes ****************************************************************/ #define CAN_ALL_MAILBOXES (CAN_TSR_TME0 | CAN_TSR_TME1 | CAN_TSR_TME2) /* Bit timing ***************************************************************/ #define CAN_BIT_QUANTA (CONFIG_CAN_TSEG1 + CONFIG_CAN_TSEG2 + 1) /* Debug ********************************************************************/ /* Non-standard debug that may be enabled just for testing CAN */ #ifdef CONFIG_DEBUG_CAN # define candbg dbg # define canvdbg vdbg # define canlldbg lldbg # define canllvdbg llvdbg #else # define candbg(x...) # define canvdbg(x...) # define canlldbg(x...) # define canllvdbg(x...) #endif #if !defined(CONFIG_DEBUG) || !defined(CONFIG_DEBUG_CAN) # undef CONFIG_CAN_REGDEBUG #endif /**************************************************************************** * Private Types ****************************************************************************/ struct stm32_can_s { uint8_t port; /* CAN port number (1 or 2) */ uint8_t canrx[2]; /* CAN RX FIFO 0/1 IRQ number */ uint8_t cantx; /* CAN TX IRQ number */ uint8_t filter; /* Filter number */ uint32_t base; /* Base address of the CAN control registers */ uint32_t fbase; /* Base address of the CAN filter registers */ uint32_t baud; /* Configured baud */ }; /**************************************************************************** * Private Function Prototypes ****************************************************************************/ /* CAN Register access */ static uint32_t can_getreg(FAR struct stm32_can_s *priv, int offset); static uint32_t can_getfreg(FAR struct stm32_can_s *priv, int offset); static void can_putreg(FAR struct stm32_can_s *priv, int offset, uint32_t value); static void can_putfreg(FAR struct stm32_can_s *priv, int offset, uint32_t value); #ifdef CONFIG_CAN_REGDEBUG static void can_dumpctrlregs(FAR struct stm32_can_s *priv, FAR const char *msg); static void can_dumpmbregs(FAR struct stm32_can_s *priv, FAR const char *msg); static void can_dumpfiltregs(FAR struct stm32_can_s *priv, FAR const char *msg); #else # define can_dumpctrlregs(priv,msg) # define can_dumpmbregs(priv,msg) # define can_dumpfiltregs(priv,msg) #endif /* CAN driver methods */ static void can_reset(FAR struct can_dev_s *dev); static int can_setup(FAR struct can_dev_s *dev); static void can_shutdown(FAR struct can_dev_s *dev); static void can_rxint(FAR struct can_dev_s *dev, bool enable); static void can_txint(FAR struct can_dev_s *dev, bool enable); static int can_ioctl(FAR struct can_dev_s *dev, int cmd, unsigned long arg); static int can_remoterequest(FAR struct can_dev_s *dev, uint16_t id); static int can_send(FAR struct can_dev_s *dev, FAR struct can_msg_s *msg); static bool can_txready(FAR struct can_dev_s *dev); static bool can_txempty(FAR struct can_dev_s *dev); /* CAN interrupt handling */ static int can_rxinterrupt(int irq, FAR void *context, int rxmb); static int can_rx0interrupt(int irq, FAR void *context); static int can_rx1interrupt(int irq, FAR void *context); static int can_txinterrupt(int irq, FAR void *context); /* Initialization */ static int can_bittiming(FAR struct stm32_can_s *priv); static int can_cellinit(FAR struct stm32_can_s *priv); static int can_filterinit(FAR struct stm32_can_s *priv); /**************************************************************************** * Private Data ****************************************************************************/ static const struct can_ops_s g_canops = { .co_reset = can_reset, .co_setup = can_setup, .co_shutdown = can_shutdown, .co_rxint = can_rxint, .co_txint = can_txint, .co_ioctl = can_ioctl, .co_remoterequest = can_remoterequest, .co_send = can_send, .co_txready = can_txready, .co_txempty = can_txempty, }; #ifdef CONFIG_STM32_CAN1 static struct stm32_can_s g_can1priv = { .port = 1, .canrx = { STM32_IRQ_CAN1RX0, STM32_IRQ_CAN1RX1, }, .cantx = STM32_IRQ_CAN1TX, .filter = 0, .base = STM32_CAN1_BASE, .fbase = STM32_CAN1_BASE, .baud = CONFIG_CAN1_BAUD, }; static struct can_dev_s g_can1dev = { .cd_ops = &g_canops, .cd_priv = &g_can1priv, }; #endif #ifdef CONFIG_STM32_CAN2 static struct stm32_can_s g_can2priv = { .port = 2, .canrx = { STM32_IRQ_CAN2RX0, STM32_IRQ_CAN2RX1, }, .cantx = STM32_IRQ_CAN2TX, .filter = CAN_NFILTERS / 2, .base = STM32_CAN2_BASE, .fbase = STM32_CAN1_BASE, .baud = CONFIG_CAN2_BAUD, }; static struct can_dev_s g_can2dev = { .cd_ops = &g_canops, .cd_priv = &g_can2priv, }; #endif /**************************************************************************** * Private Functions ****************************************************************************/ /**************************************************************************** * Name: can_getreg * Name: can_getfreg * * Description: * Read the value of a CAN register or filter block register. * * Input Parameters: * priv - A reference to the CAN block status * offset - The offset to the register to read * * Returned Value: * ****************************************************************************/ #ifdef CONFIG_CAN_REGDEBUG static uint32_t can_vgetreg(uint32_t addr) { static uint32_t prevaddr = 0; static uint32_t preval = 0; static uint32_t count = 0; /* Read the value from the register */ uint32_t val = getreg32(addr); /* Is this the same value that we read from the same register last time? * Are we polling the register? If so, suppress some of the output. */ if (addr == prevaddr && val == preval) { if (count == 0xffffffff || ++count > 3) { if (count == 4) { lldbg("...\n"); } return val; } } /* No this is a new address or value */ else { /* Did we print "..." for the previous value? */ if (count > 3) { /* Yes.. then show how many times the value repeated */ lldbg("[repeats %d more times]\n", count-3); } /* Save the new address, value, and count */ prevaddr = addr; preval = val; count = 1; } /* Show the register value read */ lldbg("%08x->%08x\n", addr, val); return val; } static uint32_t can_getreg(FAR struct stm32_can_s *priv, int offset) { return can_vgetreg(priv->base + offset); } static uint32_t can_getfreg(FAR struct stm32_can_s *priv, int offset) { return can_vgetreg(priv->fbase + offset); } #else static uint32_t can_getreg(FAR struct stm32_can_s *priv, int offset) { return getreg32(priv->base + offset); } static uint32_t can_getfreg(FAR struct stm32_can_s *priv, int offset) { return getreg32(priv->fbase + offset); } #endif /**************************************************************************** * Name: can_putreg * Name: can_putfreg * * Description: * Set the value of a CAN register or filter block register. * * Input Parameters: * priv - A reference to the CAN block status * offset - The offset to the register to write * value - The value to write to the register * * Returned Value: * None * ****************************************************************************/ #ifdef CONFIG_CAN_REGDEBUG static void can_vputreg(uint32_t addr, uint32_t value) { /* Show the register value being written */ lldbg("%08x<-%08x\n", addr, value); /* Write the value */ putreg32(value, addr); } static void can_putreg(FAR struct stm32_can_s *priv, int offset, uint32_t value) { can_vputreg(priv->base + offset, value); } static void can_putfreg(FAR struct stm32_can_s *priv, int offset, uint32_t value) { can_vputreg(priv->fbase + offset, value); } #else static void can_putreg(FAR struct stm32_can_s *priv, int offset, uint32_t value) { putreg32(value, priv->base + offset); } static void can_putfreg(FAR struct stm32_can_s *priv, int offset, uint32_t value) { putreg32(value, priv->fbase + offset); } #endif /**************************************************************************** * Name: can_dumpctrlregs * * Description: * Dump the contents of all CAN control registers * * Input Parameters: * priv - A reference to the CAN block status * * Returned Value: * None * ****************************************************************************/ #ifdef CONFIG_CAN_REGDEBUG static void can_dumpctrlregs(FAR struct stm32_can_s *priv, FAR const char *msg) { if (msg) { canlldbg("Control Registers: %s\n", msg); } else { canlldbg("Control Registers:\n"); } /* CAN control and status registers */ lldbg(" MCR: %08x MSR: %08x TSR: %08x\n", getreg32(priv->base + STM32_CAN_MCR_OFFSET), getreg32(priv->base + STM32_CAN_MSR_OFFSET), getreg32(priv->base + STM32_CAN_TSR_OFFSET)); lldbg(" RF0R: %08x RF1R: %08x\n", getreg32(priv->base + STM32_CAN_RF0R_OFFSET), getreg32(priv->base + STM32_CAN_RF1R_OFFSET)); lldbg(" IER: %08x ESR: %08x BTR: %08x\n", getreg32(priv->base + STM32_CAN_IER_OFFSET), getreg32(priv->base + STM32_CAN_ESR_OFFSET), getreg32(priv->base + STM32_CAN_BTR_OFFSET)); } #endif /**************************************************************************** * Name: can_dumpmbregs * * Description: * Dump the contents of all CAN mailbox registers * * Input Parameters: * priv - A reference to the CAN block status * * Returned Value: * None * ****************************************************************************/ #ifdef CONFIG_CAN_REGDEBUG static void can_dumpmbregs(FAR struct stm32_can_s *priv, FAR const char *msg) { if (msg) { canlldbg("Mailbox Registers: %s\n", msg); } else { canlldbg("Mailbox Registers:\n"); } /* CAN mailbox registers (3 TX and 2 RX) */ lldbg(" TI0R: %08x TDT0R: %08x TDL0R: %08x TDH0R: %08x\n", getreg32(priv->base + STM32_CAN_TI0R_OFFSET), getreg32(priv->base + STM32_CAN_TDT0R_OFFSET), getreg32(priv->base + STM32_CAN_TDL0R_OFFSET), getreg32(priv->base + STM32_CAN_TDH0R_OFFSET)); lldbg(" TI1R: %08x TDT1R: %08x TDL1R: %08x TDH1R: %08x\n", getreg32(priv->base + STM32_CAN_TI1R_OFFSET), getreg32(priv->base + STM32_CAN_TDT1R_OFFSET), getreg32(priv->base + STM32_CAN_TDL1R_OFFSET), getreg32(priv->base + STM32_CAN_TDH1R_OFFSET)); lldbg(" TI2R: %08x TDT2R: %08x TDL2R: %08x TDH2R: %08x\n", getreg32(priv->base + STM32_CAN_TI2R_OFFSET), getreg32(priv->base + STM32_CAN_TDT2R_OFFSET), getreg32(priv->base + STM32_CAN_TDL2R_OFFSET), getreg32(priv->base + STM32_CAN_TDH2R_OFFSET)); lldbg(" RI0R: %08x RDT0R: %08x RDL0R: %08x RDH0R: %08x\n", getreg32(priv->base + STM32_CAN_RI0R_OFFSET), getreg32(priv->base + STM32_CAN_RDT0R_OFFSET), getreg32(priv->base + STM32_CAN_RDL0R_OFFSET), getreg32(priv->base + STM32_CAN_RDH0R_OFFSET)); lldbg(" RI1R: %08x RDT1R: %08x RDL1R: %08x RDH1R: %08x\n", getreg32(priv->base + STM32_CAN_RI1R_OFFSET), getreg32(priv->base + STM32_CAN_RDT1R_OFFSET), getreg32(priv->base + STM32_CAN_RDL1R_OFFSET), getreg32(priv->base + STM32_CAN_RDH1R_OFFSET)); } #endif /**************************************************************************** * Name: can_dumpfiltregs * * Description: * Dump the contents of all CAN filter registers * * Input Parameters: * priv - A reference to the CAN block status * * Returned Value: * None * ****************************************************************************/ #ifdef CONFIG_CAN_REGDEBUG static void can_dumpfiltregs(FAR struct stm32_can_s *priv, FAR const char *msg) { int i; if (msg) { canlldbg("Filter Registers: %s\n", msg); } else { canlldbg("Filter Registers:\n"); } lldbg(" FMR: %08x FM1R: %08x FS1R: %08x FFA1R: %08x FA1R: %08x\n", getreg32(priv->base + STM32_CAN_FMR_OFFSET), getreg32(priv->base + STM32_CAN_FM1R_OFFSET), getreg32(priv->base + STM32_CAN_FS1R_OFFSET), getreg32(priv->base + STM32_CAN_FFA1R_OFFSET), getreg32(priv->base + STM32_CAN_FA1R_OFFSET)); for (i = 0; i < CAN_NFILTERS; i++) { lldbg(" F%dR1: %08x F%dR2: %08x\n", i, getreg32(priv->base + STM32_CAN_FIR_OFFSET(i, 1)), i, getreg32(priv->base + STM32_CAN_FIR_OFFSET(i, 2))); } } #endif /**************************************************************************** * Name: can_reset * * Description: * Reset the CAN device. Called early to initialize the hardware. This * function is called, before can_setup() and on error conditions. * * Input Parameters: * dev - An instance of the "upper half" can driver state structure. * * Returned Value: * None * ****************************************************************************/ static void can_reset(FAR struct can_dev_s *dev) { FAR struct stm32_can_s *priv = dev->cd_priv; uint32_t regval; uint32_t regbit = 0; irqstate_t flags; canllvdbg("CAN%d\n", priv->port); /* Get the bits in the AHB1RSTR register needed to reset this CAN device */ #ifdef CONFIG_STM32_CAN1 if (priv->port == 1) { regbit = RCC_APB1RSTR_CAN1RST; } else #endif #ifdef CONFIG_STM32_CAN2 if (priv->port == 2) { regbit = RCC_APB1RSTR_CAN2RST; } else #endif { canlldbg("Unsupported port %d\n", priv->port); return; } /* Disable interrupts momentarily to stop any ongoing CAN event processing * and to prevent any concurrent access to the AHB1RSTR register. */ flags = enter_critical_section(); /* Reset the CAN */ regval = getreg32(STM32_RCC_APB1RSTR); regval |= regbit; putreg32(regval, STM32_RCC_APB1RSTR); regval &= ~regbit; putreg32(regval, STM32_RCC_APB1RSTR); leave_critical_section(flags); } /**************************************************************************** * Name: can_setup * * Description: * Configure the CAN. This method is called the first time that the CAN * device is opened. This will occur when the port is first opened. * This setup includes configuring and attaching CAN interrupts. * All CAN interrupts are disabled upon return. * * Input Parameters: * dev - An instance of the "upper half" can driver state structure. * * Returned Value: * Zero on success; a negated errno on failure * ****************************************************************************/ static int can_setup(FAR struct can_dev_s *dev) { FAR struct stm32_can_s *priv = dev->cd_priv; int ret; canllvdbg("CAN%d RX0 irq: %d RX1 irq: %d TX irq: %d\n", priv->port, priv->canrx[0], priv->canrx[1], priv->cantx); /* CAN cell initialization */ ret = can_cellinit(priv); if (ret < 0) { canlldbg("CAN%d cell initialization failed: %d\n", priv->port, ret); return ret; } can_dumpctrlregs(priv, "After cell initialization"); can_dumpmbregs(priv, NULL); /* CAN filter initialization */ ret = can_filterinit(priv); if (ret < 0) { canlldbg("CAN%d filter initialization failed: %d\n", priv->port, ret); return ret; } can_dumpfiltregs(priv, "After filter initialization"); /* Attach the CAN RX FIFO 0/1 interrupts and TX interrupts. * The others are not used. */ ret = irq_attach(priv->canrx[0], can_rx0interrupt); if (ret < 0) { canlldbg("Failed to attach CAN%d RX0 IRQ (%d)", priv->port, priv->canrx[0]); return ret; } ret = irq_attach(priv->canrx[1], can_rx1interrupt); if (ret < 0) { canlldbg("Failed to attach CAN%d RX1 IRQ (%d)", priv->port, priv->canrx[1]); return ret; } ret = irq_attach(priv->cantx, can_txinterrupt); if (ret < 0) { canlldbg("Failed to attach CAN%d TX IRQ (%d)", priv->port, priv->cantx); return ret; } /* Enable the interrupts at the NVIC. Interrupts are still disabled in * the CAN module. Since we coming out of reset here, there should be * no pending interrupts. */ up_enable_irq(priv->canrx[0]); up_enable_irq(priv->canrx[1]); up_enable_irq(priv->cantx); return OK; } /**************************************************************************** * Name: can_shutdown * * Description: * Disable the CAN. This method is called when the CAN device is closed. * This method reverses the operation the setup method. * * Input Parameters: * dev - An instance of the "upper half" can driver state structure. * * Returned Value: * None * ****************************************************************************/ static void can_shutdown(FAR struct can_dev_s *dev) { FAR struct stm32_can_s *priv = dev->cd_priv; canllvdbg("CAN%d\n", priv->port); /* Disable the RX FIFO 0/1 and TX interrupts */ up_disable_irq(priv->canrx[0]); up_disable_irq(priv->canrx[1]); up_disable_irq(priv->cantx); /* Detach the RX FIFO 0/1 and TX interrupts */ irq_detach(priv->canrx[0]); irq_detach(priv->canrx[1]); irq_detach(priv->cantx); /* And reset the hardware */ can_reset(dev); } /**************************************************************************** * Name: can_rxint * * Description: * Call to enable or disable RX interrupts. * * Input Parameters: * dev - An instance of the "upper half" can driver state structure. * * Returned Value: * None * ****************************************************************************/ static void can_rxint(FAR struct can_dev_s *dev, bool enable) { FAR struct stm32_can_s *priv = dev->cd_priv; uint32_t regval; canllvdbg("CAN%d enable: %d\n", priv->port, enable); /* Enable/disable the FIFO 0/1 message pending interrupt */ regval = can_getreg(priv, STM32_CAN_IER_OFFSET); if (enable) { regval |= CAN_IER_FMPIE0 | CAN_IER_FMPIE1; } else { regval &= ~(CAN_IER_FMPIE0 | CAN_IER_FMPIE1); } can_putreg(priv, STM32_CAN_IER_OFFSET, regval); } /**************************************************************************** * Name: can_txint * * Description: * Call to enable or disable TX interrupts. * * Input Parameters: * dev - An instance of the "upper half" can driver state structure. * * Returned Value: * None * ****************************************************************************/ static void can_txint(FAR struct can_dev_s *dev, bool enable) { FAR struct stm32_can_s *priv = dev->cd_priv; uint32_t regval; canllvdbg("CAN%d enable: %d\n", priv->port, enable); /* Support only disabling the transmit mailbox interrupt */ if (!enable) { regval = can_getreg(priv, STM32_CAN_IER_OFFSET); regval &= ~CAN_IER_TMEIE; can_putreg(priv, STM32_CAN_IER_OFFSET, regval); } } /**************************************************************************** * Name: can_ioctl * * Description: * All ioctl calls will be routed through this method * * Input Parameters: * dev - An instance of the "upper half" can driver state structure. * * Returned Value: * Zero on success; a negated errno on failure * ****************************************************************************/ static int can_ioctl(FAR struct can_dev_s *dev, int cmd, unsigned long arg) { /* No CAN ioctls are supported */ return -ENOTTY; } /**************************************************************************** * Name: can_remoterequest * * Description: * Send a remote request * * Input Parameters: * dev - An instance of the "upper half" can driver state structure. * * Returned Value: * Zero on success; a negated errno on failure * ****************************************************************************/ static int can_remoterequest(FAR struct can_dev_s *dev, uint16_t id) { #warning "Remote request not implemented" return -ENOSYS; } /**************************************************************************** * Name: can_send * * Description: * 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). * * 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 * Bit 4: Remote Tranmission Request (RTR) * Bits 0-3: Data Length Code (DLC) * Bytes 2-10: CAN data * * Input Parameters: * dev - An instance of the "upper half" can driver state structure. * * Returned Value: * Zero on success; a negated errno on failure * ****************************************************************************/ static int can_send(FAR struct can_dev_s *dev, FAR struct can_msg_s *msg) { FAR struct stm32_can_s *priv = dev->cd_priv; FAR uint8_t *ptr; uint32_t regval; uint32_t tmp; int dlc; int txmb; canllvdbg("CAN%d ID: %d DLC: %d\n", priv->port, msg->cm_hdr.ch_id, msg->cm_hdr.ch_dlc); /* Select one empty transmit mailbox */ regval = can_getreg(priv, STM32_CAN_TSR_OFFSET); if ((regval & CAN_TSR_TME0) != 0 && (regval & CAN_TSR_RQCP0) == 0) { txmb = 0; } else if ((regval & CAN_TSR_TME1) != 0 && (regval & CAN_TSR_RQCP1) == 0) { txmb = 1; } else if ((regval & CAN_TSR_TME2) != 0 && (regval & CAN_TSR_RQCP2) == 0) { txmb = 2; } else { canlldbg("ERROR: No available mailbox\n"); return -EBUSY; } /* Clear TXRQ, RTR, IDE, EXID, and STID fields */ regval = can_getreg(priv, STM32_CAN_TIR_OFFSET(txmb)); regval &= ~(CAN_TIR_TXRQ | CAN_TIR_RTR | CAN_TIR_IDE | CAN_TIR_EXID_MASK | CAN_TIR_STID_MASK); can_putreg(priv, STM32_CAN_TIR_OFFSET(txmb), regval); /* Set up the ID, standard 11-bit or extended 29-bit. */ #ifdef CONFIG_CAN_EXTID regval &= ~CAN_TIR_EXID_MASK; if (msg->cm_hdr.ch_extid) { DEBUGASSERT(msg->cm_hdr.ch_id < (1 << 29)); regval |= (msg->cm_hdr.ch_id << CAN_TIR_EXID_SHIFT) | CAN_TIR_IDE; } else { DEBUGASSERT(msg->cm_hdr.ch_id < (1 << 11)); regval |= msg->cm_hdr.ch_id << CAN_TIR_STID_SHIFT; } #else regval &= ~CAN_TIR_STID_MASK; regval |= (uint32_t)msg->cm_hdr.ch_id << CAN_TIR_STID_SHIFT; #endif can_putreg(priv, STM32_CAN_TIR_OFFSET(txmb), regval); /* Set up the DLC */ dlc = msg->cm_hdr.ch_dlc; regval = can_getreg(priv, STM32_CAN_TDTR_OFFSET(txmb)); regval &= ~(CAN_TDTR_DLC_MASK | CAN_TDTR_TGT); regval |= (uint32_t)dlc << CAN_TDTR_DLC_SHIFT; can_putreg(priv, STM32_CAN_TDTR_OFFSET(txmb), regval); /* Set up the data fields */ ptr = msg->cm_data; regval = 0; if (dlc > 0) { tmp = (uint32_t)*ptr++; regval = tmp << CAN_TDLR_DATA0_SHIFT; if (dlc > 1) { tmp = (uint32_t)*ptr++; regval |= tmp << CAN_TDLR_DATA1_SHIFT; if (dlc > 2) { tmp = (uint32_t)*ptr++; regval |= tmp << CAN_TDLR_DATA2_SHIFT; if (dlc > 3) { tmp = (uint32_t)*ptr++; regval |= tmp << CAN_TDLR_DATA3_SHIFT; } } } } can_putreg(priv, STM32_CAN_TDLR_OFFSET(txmb), regval); regval = 0; if (dlc > 4) { tmp = (uint32_t)*ptr++; regval = tmp << CAN_TDHR_DATA4_SHIFT; if (dlc > 5) { tmp = (uint32_t)*ptr++; regval |= tmp << CAN_TDHR_DATA5_SHIFT; if (dlc > 6) { tmp = (uint32_t)*ptr++; regval |= tmp << CAN_TDHR_DATA6_SHIFT; if (dlc > 7) { tmp = (uint32_t)*ptr++; regval |= tmp << CAN_TDHR_DATA7_SHIFT; } } } } can_putreg(priv, STM32_CAN_TDHR_OFFSET(txmb), regval); /* Enable the transmit mailbox empty interrupt (may already be enabled) */ regval = can_getreg(priv, STM32_CAN_IER_OFFSET); regval |= CAN_IER_TMEIE; can_putreg(priv, STM32_CAN_IER_OFFSET, regval); /* Request transmission */ regval = can_getreg(priv, STM32_CAN_TIR_OFFSET(txmb)); regval |= CAN_TIR_TXRQ; /* Transmit Mailbox Request */ can_putreg(priv, STM32_CAN_TIR_OFFSET(txmb), regval); can_dumpmbregs(priv, "After send"); return OK; } /**************************************************************************** * Name: can_txready * * Description: * Return true if the CAN hardware can accept another TX message. * * Input Parameters: * dev - An instance of the "upper half" can driver state structure. * * Returned Value: * True if the CAN hardware is ready to accept another TX message. * ****************************************************************************/ static bool can_txready(FAR struct can_dev_s *dev) { FAR struct stm32_can_s *priv = dev->cd_priv; uint32_t regval; /* Return true if any mailbox is available */ regval = can_getreg(priv, STM32_CAN_TSR_OFFSET); canllvdbg("CAN%d TSR: %08x\n", priv->port, regval); return (regval & CAN_ALL_MAILBOXES) != 0; } /**************************************************************************** * Name: can_txempty * * Description: * Return true if all message have been sent. If for example, the CAN * hardware implements FIFOs, then this would mean the transmit FIFO is * empty. This method is called when the driver needs to make sure that * all characters are "drained" from the TX hardware before calling * co_shutdown(). * * Input Parameters: * dev - An instance of the "upper half" can driver state structure. * * Returned Value: * True if there are no pending TX transfers in the CAN hardware. * ****************************************************************************/ static bool can_txempty(FAR struct can_dev_s *dev) { FAR struct stm32_can_s *priv = dev->cd_priv; uint32_t regval; /* Return true if all mailboxes are available */ regval = can_getreg(priv, STM32_CAN_TSR_OFFSET); canllvdbg("CAN%d TSR: %08x\n", priv->port, regval); return (regval & CAN_ALL_MAILBOXES) == CAN_ALL_MAILBOXES; } /**************************************************************************** * Name: can_rxinterrupt * * Description: * CAN RX FIFO 0/1 interrupt handler * * Input Parameters: * irq - The IRQ number of the interrupt. * context - The register state save array at the time of the interrupt. * rxmb - The RX mailbox number. * * Returned Value: * Zero on success; a negated errno on failure * ****************************************************************************/ static int can_rxinterrupt(int irq, FAR void *context, int rxmb) { FAR struct can_dev_s *dev = NULL; FAR struct stm32_can_s *priv; struct can_hdr_s hdr; uint8_t data[CAN_MAXDATALEN]; uint32_t regval; int npending; int ret; #if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2) if (g_can1priv.canrx[rxmb] == irq) { dev = &g_can1dev; } else if (g_can2priv.canrx[rxmb] == irq) { dev = &g_can2dev; } else { PANIC(); } #elif defined(CONFIG_STM32_CAN1) dev = &g_can1dev; #else /* defined(CONFIG_STM32_CAN2) */ dev = &g_can2dev; #endif priv = dev->cd_priv; /* Verify that a message is pending in the FIFO */ regval = can_getreg(priv, STM32_CAN_RFR_OFFSET(rxmb)); npending = (regval & CAN_RFR_FMP_MASK) >> CAN_RFR_FMP_SHIFT; if (npending < 1) { canlldbg("WARNING: No messages pending\n"); return OK; } if (rxmb == 0) { can_dumpmbregs(priv, "RX0 interrupt"); } else { can_dumpmbregs(priv, "RX1 interrupt"); } /* Get the CAN identifier. */ regval = can_getreg(priv, STM32_CAN_RIR_OFFSET(rxmb)); #ifdef CONFIG_CAN_EXTID if ((regval & CAN_RIR_IDE) != 0) { hdr.ch_id = (regval & CAN_RIR_EXID_MASK) >> CAN_RIR_EXID_SHIFT; hdr.ch_extid = true; } else { hdr.ch_id = (regval & CAN_RIR_STID_MASK) >> CAN_RIR_STID_SHIFT; hdr.ch_extid = false; } #else if ((regval & CAN_RIR_IDE) != 0) { canlldbg("ERROR: Received message with extended identifier. Dropped\n"); ret = -ENOSYS; goto errout; } hdr.ch_id = (regval & CAN_RIR_STID_MASK) >> CAN_RIR_STID_SHIFT; #endif /* Clear the error indication and unused bits */ #ifdef CONFIG_CAN_ERRORS hdr.ch_error = 0; /* Error reporting not supported */ #endif hdr.ch_unused = 0; /* Extract the RTR bit */ hdr.ch_rtr = (regval & CAN_RIR_RTR) != 0; /* Get the DLC */ regval = can_getreg(priv, STM32_CAN_RDTR_OFFSET(rxmb)); hdr.ch_dlc = (regval & CAN_RDTR_DLC_MASK) >> CAN_RDTR_DLC_SHIFT; /* Save the message data */ regval = can_getreg(priv, STM32_CAN_RDLR_OFFSET(rxmb)); data[0] = (regval & CAN_RDLR_DATA0_MASK) >> CAN_RDLR_DATA0_SHIFT; data[1] = (regval & CAN_RDLR_DATA1_MASK) >> CAN_RDLR_DATA1_SHIFT; data[2] = (regval & CAN_RDLR_DATA2_MASK) >> CAN_RDLR_DATA2_SHIFT; data[3] = (regval & CAN_RDLR_DATA3_MASK) >> CAN_RDLR_DATA3_SHIFT; regval = can_getreg(priv, STM32_CAN_RDHR_OFFSET(rxmb)); data[4] = (regval & CAN_RDHR_DATA4_MASK) >> CAN_RDHR_DATA4_SHIFT; data[5] = (regval & CAN_RDHR_DATA5_MASK) >> CAN_RDHR_DATA5_SHIFT; data[6] = (regval & CAN_RDHR_DATA6_MASK) >> CAN_RDHR_DATA6_SHIFT; data[7] = (regval & CAN_RDHR_DATA7_MASK) >> CAN_RDHR_DATA7_SHIFT; /* Provide the data to the upper half driver */ ret = can_receive(dev, &hdr, data); /* Release the FIFO */ #ifndef CONFIG_CAN_EXTID errout: #endif regval = can_getreg(priv, STM32_CAN_RFR_OFFSET(rxmb)); regval |= CAN_RFR_RFOM; can_putreg(priv, STM32_CAN_RFR_OFFSET(rxmb), regval); return ret; } /**************************************************************************** * Name: can_rx0interrupt * * Description: * CAN RX FIFO 0 interrupt handler * * Input Parameters: * irq - The IRQ number of the interrupt. * context - The register state save array at the time of the interrupt. * * Returned Value: * Zero on success; a negated errno on failure * ****************************************************************************/ static int can_rx0interrupt(int irq, FAR void *context) { return can_rxinterrupt(irq, context, 0); } /**************************************************************************** * Name: can_rx1interrupt * * Description: * CAN RX FIFO 1 interrupt handler * * Input Parameters: * irq - The IRQ number of the interrupt. * context - The register state save array at the time of the interrupt. * * Returned Value: * Zero on success; a negated errno on failure * ****************************************************************************/ static int can_rx1interrupt(int irq, FAR void *context) { return can_rxinterrupt(irq, context, 1); } /**************************************************************************** * Name: can_txinterrupt * * Description: * CAN TX mailbox complete interrupt handler * * Input Parameters: * irq - The IRQ number of the interrupt. * context - The register state save array at the time of the interrupt. * * Returned Value: * Zero on success; a negated errno on failure * ****************************************************************************/ static int can_txinterrupt(int irq, FAR void *context) { FAR struct can_dev_s *dev = NULL; FAR struct stm32_can_s *priv; uint32_t regval; #if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2) if (g_can1priv.cantx == irq) { dev = &g_can1dev; } else if (g_can2priv.cantx == irq) { dev = &g_can2dev; } else { PANIC(); } #elif defined(CONFIG_STM32_CAN1) dev = &g_can1dev; #else /* defined(CONFIG_STM32_CAN2) */ dev = &g_can2dev; #endif priv = dev->cd_priv; /* Get the transmit status */ regval = can_getreg(priv, STM32_CAN_TSR_OFFSET); /* Check for RQCP0: Request completed mailbox 0 */ if ((regval & CAN_TSR_RQCP0) != 0) { /* Writing '1' to RCP0 clears RCP0 and all the status bits (TXOK0, * ALST0 and TERR0) for Mailbox 0. */ can_putreg(priv, STM32_CAN_TSR_OFFSET, CAN_TSR_RQCP0); /* Check for errors */ if ((regval & CAN_TSR_TXOK0) != 0) { /* Tell the upper half that the tansfer is finished. */ (void)can_txdone(dev); } } /* Check for RQCP1: Request completed mailbox 1 */ if ((regval & CAN_TSR_RQCP1) != 0) { /* Writing '1' to RCP1 clears RCP1 and all the status bits (TXOK1, * ALST1 and TERR1) for Mailbox 1. */ can_putreg(priv, STM32_CAN_TSR_OFFSET, CAN_TSR_RQCP1); /* Check for errors */ if ((regval & CAN_TSR_TXOK1) != 0) { /* Tell the upper half that the tansfer is finished. */ (void)can_txdone(dev); } } /* Check for RQCP2: Request completed mailbox 2 */ if ((regval & CAN_TSR_RQCP2) != 0) { /* Writing '1' to RCP2 clears RCP2 and all the status bits (TXOK2, * ALST2 and TERR2) for Mailbox 2. */ can_putreg(priv, STM32_CAN_TSR_OFFSET, CAN_TSR_RQCP2); /* Check for errors */ if ((regval & CAN_TSR_TXOK2) != 0) { /* Tell the upper half that the tansfer is finished. */ (void)can_txdone(dev); } } return OK; } /**************************************************************************** * Name: can_bittiming * * Description: * Set the CAN bit timing register (BTR) based on the configured BAUD. * * "The bit timing logic monitors the serial bus-line and performs sampling * and adjustment of the sample point by synchronizing on the start-bit edge * and resynchronizing on the following edges. * * "Its operation may be explained simply by splitting nominal bit time into * three segments as follows: * * 1. "Synchronization segment (SYNC_SEG): a bit change is expected to occur * within this time segment. It has a fixed length of one time quantum * (1 x tCAN). * 2. "Bit segment 1 (BS1): defines the location of the sample point. It * includes the PROP_SEG and PHASE_SEG1 of the CAN standard. Its duration * is programmable between 1 and 16 time quanta but may be automatically * lengthened to compensate for positive phase drifts due to differences * in the frequency of the various nodes of the network. * 3. "Bit segment 2 (BS2): defines the location of the transmit point. It * represents the PHASE_SEG2 of the CAN standard. Its duration is * programmable between 1 and 8 time quanta but may also be automatically * shortened to compensate for negative phase drifts." * * Pictorially: * * |<----------------- NOMINAL BIT TIME ----------------->| * |<- SYNC_SEG ->|<------ BS1 ------>|<------ BS2 ------>| * |<---- Tq ---->|<----- Tbs1 ------>|<----- Tbs2 ------>| * * Where * Tbs1 is the duration of the BS1 segment * Tbs2 is the duration of the BS2 segment * Tq is the "Time Quantum" * * Relationships: * * baud = 1 / bit_time * bit_time = Tq + Tbs1 + Tbs2 * Tbs1 = Tq * ts1 * Tbs2 = Tq * ts2 * Tq = brp * Tpclk1 * * Where: * Tpclk1 is the period of the APB1 clock (PCLK1). * * Input Parameter: * priv - A reference to the CAN block status * * Returned Value: * Zero on success; a negated errno on failure * ****************************************************************************/ static int can_bittiming(FAR struct stm32_can_s *priv) { uint32_t tmp; uint32_t brp; uint32_t ts1; uint32_t ts2; canllvdbg("CAN%d PCLK1: %d baud: %d\n", priv->port, STM32_PCLK1_FREQUENCY, priv->baud); /* Try to get CAN_BIT_QUANTA quanta in one bit_time. * * bit_time = Tq*(ts1 + ts2 + 1) * nquanta = bit_time / Tq * nquanta = (ts1 + ts2 + 1) * * bit_time = brp * Tpclk1 * (ts1 + ts2 + 1) * nquanta = bit_time / brp / Tpclk1 * = PCLK1 / baud / brp * brp = PCLK1 / baud / nquanta; * * Example: * PCLK1 = 42,000,000 baud = 1,000,000 nquanta = 14 : brp = 3 * PCLK1 = 42,000,000 baud = 700,000 nquanta = 14 : brp = 4 */ tmp = STM32_PCLK1_FREQUENCY / priv->baud; if (tmp < CAN_BIT_QUANTA) { /* At the smallest brp value (1), there are already too few bit times * (PCLCK1 / baud) to meet our goal. brp must be one and we need * make some reasonable guesses about ts1 and ts2. */ brp = 1; /* In this case, we have to guess a good value for ts1 and ts2 */ ts1 = (tmp - 1) >> 1; ts2 = tmp - ts1 - 1; if (ts1 == ts2 && ts1 > 1 && ts2 < CAN_BTR_TSEG2_MAX) { ts1--; ts2++; } } /* Otherwise, nquanta is CAN_BIT_QUANTA, ts1 is CONFIG_CAN_TSEG1, ts2 is * CONFIG_CAN_TSEG2 and we calculate brp to achieve CAN_BIT_QUANTA quanta * in the bit time */ else { ts1 = CONFIG_CAN_TSEG1; ts2 = CONFIG_CAN_TSEG2; brp = (tmp + (CAN_BIT_QUANTA/2)) / CAN_BIT_QUANTA; DEBUGASSERT(brp >= 1 && brp <= CAN_BTR_BRP_MAX); } canllvdbg("TS1: %d TS2: %d BRP: %d\n", ts1, ts2, brp); /* Configure bit timing. This also does the following, less obvious * things. Unless loopback mode is enabled, it: * * - Disables silent mode. * - Disables loopback mode. * * NOTE that for the time being, SJW is set to 1 just because I don't * know any better. */ tmp = ((brp - 1) << CAN_BTR_BRP_SHIFT) | ((ts1 - 1) << CAN_BTR_TS1_SHIFT) | ((ts2 - 1) << CAN_BTR_TS2_SHIFT) | ((1 - 1) << CAN_BTR_SJW_SHIFT); #ifdef CONFIG_CAN_LOOPBACK //tmp |= (CAN_BTR_LBKM | CAN_BTR_SILM); tmp |= CAN_BTR_LBKM; #endif can_putreg(priv, STM32_CAN_BTR_OFFSET, tmp); return OK; } /**************************************************************************** * Name: can_cellinit * * Description: * CAN cell initialization * * Input Parameter: * priv - A pointer to the private data structure for this CAN block * * Returned Value: * Zero on success; a negated errno value on failure. * ****************************************************************************/ static int can_cellinit(FAR struct stm32_can_s *priv) { volatile uint32_t timeout; uint32_t regval; int ret; canllvdbg("CAN%d\n", priv->port); /* Exit from sleep mode */ regval = can_getreg(priv, STM32_CAN_MCR_OFFSET); regval &= ~CAN_MCR_SLEEP; can_putreg(priv, STM32_CAN_MCR_OFFSET, regval); /* Enter initialization mode */ regval |= CAN_MCR_INRQ; can_putreg(priv, STM32_CAN_MCR_OFFSET, regval); /* Wait until initialization mode is acknowledged */ for (timeout = INAK_TIMEOUT; timeout > 0; timeout--) { regval = can_getreg(priv, STM32_CAN_MSR_OFFSET); if ((regval & CAN_MSR_INAK) != 0) { /* We are in initialization mode */ break; } } /* Check for a timeout */ if (timeout < 1) { canlldbg("ERROR: Timed out waiting to enter initialization mode\n"); return -ETIMEDOUT; } /* Disable the following modes: * * - Time triggered communication mode * - Automatic bus-off management * - Automatic wake-up mode * - No automatic retransmission * - Receive FIFO locked mode * - Transmit FIFO priority */ regval = can_getreg(priv, STM32_CAN_MCR_OFFSET); regval &= ~(CAN_MCR_TXFP | CAN_MCR_RFLM | CAN_MCR_NART | CAN_MCR_AWUM | CAN_MCR_ABOM | CAN_MCR_TTCM); can_putreg(priv, STM32_CAN_MCR_OFFSET, regval); /* Configure bit timing. */ ret = can_bittiming(priv); if (ret < 0) { canlldbg("ERROR: Failed to set bit timing: %d\n", ret); return ret; } /* Exit initialization mode */ regval = can_getreg(priv, STM32_CAN_MCR_OFFSET); regval &= ~CAN_MCR_INRQ; can_putreg(priv, STM32_CAN_MCR_OFFSET, regval); /* Wait until the initialization mode exit is acknowledged */ for (timeout = INAK_TIMEOUT; timeout > 0; timeout--) { regval = can_getreg(priv, STM32_CAN_MSR_OFFSET); if ((regval & CAN_MSR_INAK) == 0) { /* We are out of initialization mode */ break; } } /* Check for a timeout */ if (timeout < 1) { canlldbg("ERROR: Timed out waiting to exit initialization mode: %08x\n", regval); return -ETIMEDOUT; } return OK; } /**************************************************************************** * Name: can_filterinit * * Description: * CAN filter initialization. CAN filters are not currently used by this * driver. The CAN filters can be configured in a different way: * * 1. As a match of specific IDs in a list (IdList mode), or as * 2. And ID and a mask (IdMask mode). * * Filters can also be configured as: * * 3. 16- or 32-bit. The advantage of 16-bit filters is that you get * more filters; The advantage of 32-bit filters is that you get * finer control of the filtering. * * One filter is set up for each CAN. The filter resources are shared * between the two CAN modules: CAN1 uses only filter 0 (but reserves * 0 through CAN_NFILTERS/2-1); CAN2 uses only filter CAN_NFILTERS/2 * (but reserves CAN_NFILTERS/2 through CAN_NFILTERS-1). * * 32-bit IdMask mode is configured. However, both the ID and the MASK * are set to zero thus supressing all filtering because anything masked * with zero matches zero. * * Input Parameter: * priv - A pointer to the private data structure for this CAN block * * Returned Value: * Zero on success; a negated errno value on failure. * ****************************************************************************/ static int can_filterinit(FAR struct stm32_can_s *priv) { uint32_t regval; uint32_t bitmask; canllvdbg("CAN%d filter: %d\n", priv->port, priv->filter); /* Get the bitmask associated with the filter used by this CAN block */ bitmask = (uint32_t)1 << priv->filter; /* Enter filter initialization mode */ regval = can_getfreg(priv, STM32_CAN_FMR_OFFSET); regval |= CAN_FMR_FINIT; can_putfreg(priv, STM32_CAN_FMR_OFFSET, regval); /* Assign half the filters to CAN1, half to CAN2 */ #if defined(CONFIG_STM32_CONNECTIVITYLINE) || \ defined(CONFIG_STM32_STM32F20XX) || \ defined(CONFIG_STM32_STM32F40XX) regval = can_getfreg(priv, STM32_CAN_FMR_OFFSET); regval &= CAN_FMR_CAN2SB_MASK; regval |= (CAN_NFILTERS / 2) << CAN_FMR_CAN2SB_SHIFT; can_putfreg(priv, STM32_CAN_FMR_OFFSET, regval); #endif /* Disable the filter */ regval = can_getfreg(priv, STM32_CAN_FA1R_OFFSET); regval &= ~bitmask; can_putfreg(priv, STM32_CAN_FA1R_OFFSET, regval); /* Select the 32-bit scale for the filter */ regval = can_getfreg(priv, STM32_CAN_FS1R_OFFSET); regval |= bitmask; can_putfreg(priv, STM32_CAN_FS1R_OFFSET, regval); /* There are 14 or 28 filter banks (depending) on the device. * Each filter bank is composed of two 32-bit registers, CAN_FiR: */ can_putfreg(priv, STM32_CAN_FIR_OFFSET(priv->filter, 1), 0); can_putfreg(priv, STM32_CAN_FIR_OFFSET(priv->filter, 2), 0); /* Set Id/Mask mode for the filter */ regval = can_getfreg(priv, STM32_CAN_FM1R_OFFSET); regval &= ~bitmask; can_putfreg(priv, STM32_CAN_FM1R_OFFSET, regval); /* Assign FIFO 0 for the filter */ regval = can_getfreg(priv, STM32_CAN_FFA1R_OFFSET); regval &= ~bitmask; can_putfreg(priv, STM32_CAN_FFA1R_OFFSET, regval); /* Enable the filter */ regval = can_getfreg(priv, STM32_CAN_FA1R_OFFSET); regval |= bitmask; can_putfreg(priv, STM32_CAN_FA1R_OFFSET, regval); /* Exit filter initialization mode */ regval = can_getfreg(priv, STM32_CAN_FMR_OFFSET); regval &= ~CAN_FMR_FINIT; can_putfreg(priv, STM32_CAN_FMR_OFFSET, regval); return OK; } /**************************************************************************** * Public Functions ****************************************************************************/ /**************************************************************************** * Name: stm32_caninitialize * * Description: * Initialize the selected CAN port * * Input Parameter: * Port number (for hardware that has mutiple CAN interfaces) * * Returned Value: * Valid CAN device structure reference on succcess; a NULL on failure * ****************************************************************************/ FAR struct can_dev_s *stm32_caninitialize(int port) { FAR struct can_dev_s *dev = NULL; canvdbg("CAN%d\n", port); /* NOTE: Peripherical clocking for CAN1 and/or CAN2 was already provided * by stm32_clockconfig() early in the reset sequence. */ #ifdef CONFIG_STM32_CAN1 if (port == 1) { /* Select the CAN1 device structure */ dev = &g_can1dev; /* Configure CAN1 pins. The ambiguous settings in the stm32*_pinmap.h * file must have been disambiguated in the board.h file. */ stm32_configgpio(GPIO_CAN1_RX); stm32_configgpio(GPIO_CAN1_TX); } else #endif #ifdef CONFIG_STM32_CAN2 if (port == 2) { /* Select the CAN2 device structure */ dev = &g_can2dev; /* Configure CAN2 pins. The ambiguous settings in the stm32*_pinmap.h * file must have been disambiguated in the board.h file. */ stm32_configgpio(GPIO_CAN2_RX); stm32_configgpio(GPIO_CAN2_TX); } else #endif { candbg("ERROR: Unsupported port %d\n", port); return NULL; } return dev; } #endif /* CONFIG_CAN && (CONFIG_STM32_CAN1 || CONFIG_STM32_CAN2) */