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nuttx/arch/arm/src/lpc17xx/lpc17_can.c
patacongo 07a2d59fbc Add loopback support to STM32 CAN driver; Add apps/examples/can loopback test 
git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@4213 42af7a65-404d-4744-a932-0658087f49c3
2011-12-22 15:59:50 +00:00

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/************************************************************************************
* arch/arm/src/lpc17xx/lpc17_can.c
*
* Copyright (C) 2011 Li Zhuoyi. All rights reserved.
* Author: Li Zhuoyi <lzyy.cn@gmail.com>
* History: 0.1 2011-07-12 initial version
* 0.2 2011-08-03 support CAN1/CAN2
*
* This file is a part of NuttX:
*
* Copyright (C) 2010 Gregory Nutt. All rights reserved.
*
* 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.
*
************************************************************************************/
#include <nuttx/config.h>
#include <stdio.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <semaphore.h>
#include <errno.h>
#include <debug.h>
#include <arch/board/board.h>
#include <nuttx/arch.h>
#include <nuttx/can.h>
#include "up_internal.h"
#include "up_arch.h"
#include "chip.h"
#include "lpc17_internal.h"
#include "lpc17_syscon.h"
#include "lpc17_pinconn.h"
#include "lpc17_can.h"
#if defined(CONFIG_LPC17_CAN1) || defined(CONFIG_LPC17_CAN2)
/****************************************************************************
* Private Types
****************************************************************************/
struct up_dev_s
{
int port;
int baud; /* Configured baud */
};
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
/* CAN 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_txempty(FAR struct can_dev_s *dev);
static int can_interrupt(int irq, void *context);
/****************************************************************************
* 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_txempty = can_txempty,
};
#ifdef CONFIG_LPC17_CAN1
static struct up_dev_s g_can1priv =
{
.port = 1,
.baud = CONFIG_CAN1_BAUD,
};
static struct can_dev_s g_can1dev =
{
.cd_ops = &g_canops,
.cd_priv= &g_can1priv,
};
#endif
#ifdef CONFIG_LPC17_CAN2
static struct up_dev_s g_can2priv =
{
.port = 2,
.baud = CONFIG_CAN2_BAUD,
};
static struct can_dev_s g_can2dev =
{
.cd_ops = &g_canops,
.cd_priv= &g_can2priv,
};
#endif
/****************************************************************************
* Private Functions
****************************************************************************/
/* Reset the CAN device. Called early to initialize the hardware. This
* is called, before co_setup() and on error conditions.
*/
static void can_reset(FAR struct can_dev_s *dev)
{
irqstate_t flags;
uint32_t regval;
struct up_dev_s *priv=dev->cd_priv;
int baud = priv->baud;
int port = priv->port;
baud = 0x25c003;
flags = irqsave();
if(port==1)
{
putreg32(0x01,LPC17_CAN1_MOD);
putreg32(0x00,LPC17_CAN1_IER);
putreg32(0x00,LPC17_CAN1_GSR);
putreg32(0x02,LPC17_CAN1_CMR);
putreg32(baud,LPC17_CAN1_BTR);
putreg32(0x00,LPC17_CAN1_MOD);
putreg32(0x01,LPC17_CAN1_IER);
putreg32(0x02,LPC17_CANAF_AFMR);
}
else if(port==2)
{
putreg32(0x01,LPC17_CAN2_MOD);
putreg32(0x00,LPC17_CAN2_IER);
putreg32(0x00,LPC17_CAN2_GSR);
putreg32(0x02,LPC17_CAN2_CMR);
putreg32(baud,LPC17_CAN2_BTR);
putreg32(0x00,LPC17_CAN2_MOD);
putreg32(0x01,LPC17_CAN2_IER);
putreg32(0x02,LPC17_CANAF_AFMR);
}
else
{
dbg("Unsupport port %d\n",port);
}
irqrestore(flags);
}
/* 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. Interrupts
* are all disabled upon return.
*/
static int can_setup(FAR struct can_dev_s *dev)
{
int ret = irq_attach(LPC17_IRQ_CAN, can_interrupt);
if (ret == OK)
{
up_enable_irq(LPC17_IRQ_CAN);
}
return ret;
}
/* Disable the CAN. This method is called when the CAN device is closed.
* This method reverses the operation the setup method.
*/
static void can_shutdown(FAR struct can_dev_s *dev)
{
up_disable_irq(LPC17_IRQ_CAN);
irq_detach(LPC17_IRQ_CAN);
}
/* Call to enable or disable RX interrupts */
static void can_rxint(FAR struct can_dev_s *dev, bool enable)
{
uint32_t regval;
int port = ((struct up_dev_s *)(dev->cd_priv))->port;
if(port == 1)
regval = getreg32(LPC17_CAN1_IER);
else
regval = getreg32(LPC17_CAN2_IER);
if (enable)
regval |= CAN_IER_RIE;
else
regval &= ~CAN_IER_RIE;
if(port == 1)
putreg32(regval, LPC17_CAN1_IER);
else
putreg32(regval, LPC17_CAN2_IER);
}
/* Call to enable or disable TX interrupts */
static void can_txint(FAR struct can_dev_s *dev, bool enable)
{
uint32_t regval;
int port = ((struct up_dev_s *)(dev->cd_priv))->port;
if(port == 1)
regval = getreg32(LPC17_CAN1_IER);
else
regval = getreg32(LPC17_CAN2_IER);
if (enable)
regval |= CAN_IER_TIE1;
else
regval &= ~CAN_IER_TIE1;
if(port == 1)
putreg32(regval, LPC17_CAN1_IER);
else
putreg32(regval, LPC17_CAN2_IER);
}
/* All ioctl calls will be routed through this method */
static int can_ioctl(FAR struct can_dev_s *dev, int cmd, unsigned long arg)
{
dbg("Fix me:Not Implemented\n");
return 0;
}
/* Send a remote request */
static int can_remoterequest(FAR struct can_dev_s *dev, uint16_t id)
{
dbg("Fix me:Not Implemented\n");
return 0;
}
static int can_send(FAR struct can_dev_s *dev, FAR struct can_msg_s *msg)
{
int port = ((struct up_dev_s *)(dev->cd_priv))->port;
uint32_t tid=CAN_ID(msg->cm_hdr);
uint32_t tfi=CAN_DLC(msg->cm_hdr)<<16;
if (CAN_RTR(msg->cm_hdr))
tfi|=CAN_TFI_RTR;
if( port == 1)
{
putreg32(tfi,LPC17_CAN1_TFI1);
putreg32(tid,LPC17_CAN1_TID1);
putreg32(*(uint32_t *)&msg->cm_data[0],LPC17_CAN1_TDA1);
putreg32(*(uint32_t *)&msg->cm_data[4],LPC17_CAN1_TDB1);
putreg32(0x21,LPC17_CAN1_CMR);
}
else
{
putreg32(tfi,LPC17_CAN2_TFI1);
putreg32(tid,LPC17_CAN2_TID1);
putreg32(*(uint32_t *)&msg->cm_data[0],LPC17_CAN2_TDA1);
putreg32(*(uint32_t *)&msg->cm_data[4],LPC17_CAN2_TDB1);
putreg32(0x21,LPC17_CAN2_CMR);
}
return 0;
}
static bool can_txempty(FAR struct can_dev_s *dev)
{
uint32_t regval;
int port = ((struct up_dev_s *)(dev->cd_priv))->port;
if( port == 1)
regval = getreg32(LPC17_CAN1_GSR);
else
regval = getreg32(LPC17_CAN2_GSR);
if ( regval & CAN_GSR_TBS)
return true;
else
return false;
}
static int can_interrupt(int irq, void *context)
{
uint32_t regval;
#ifdef CONFIG_LPC17_CAN1
regval=getreg32(LPC17_CAN1_ICR);
if (regval & CAN_ICR_RI ) //Receive interrupt
{
uint16_t hdr;
uint32_t data[2];
uint32_t rfs=getreg32(LPC17_CAN1_RFS);
uint32_t rid=getreg32(LPC17_CAN1_RID);
data[0]=getreg32(LPC17_CAN1_RDA);
data[1]=getreg32(LPC17_CAN1_RDB);
putreg32(0x04,LPC17_CAN1_CMR); //release recieve buffer
hdr=((rid<<5)&~0x1f)|((rfs>>16)&0x0f);
if (rfs&CAN_RFS_RTR)
hdr|=0x10;
can_receive(&g_can1dev,hdr,(uint8_t *)data);
}
if ( regval & CAN_ICR_TI1) //Transmit interrupt 1
can_txdone(&g_can1dev);
#endif
#ifdef CONFIG_LPC17_CAN2
regval=getreg32(LPC17_CAN2_ICR);
if (regval & CAN_ICR_RI ) //Receive interrupt
{
uint16_t hdr;
uint32_t data[2];
uint32_t rfs=getreg32(LPC17_CAN2_RFS);
uint32_t rid=getreg32(LPC17_CAN2_RID);
data[0]=getreg32(LPC17_CAN2_RDA);
data[1]=getreg32(LPC17_CAN2_RDB);
putreg32(0x04,LPC17_CAN2_CMR); //release recieve buffer
hdr=((rid<<5)&~0x1f)|((rfs>>16)&0x0f);
if (rfs&CAN_RFS_RTR)
hdr|=0x10;
can_receive(&g_can2dev,hdr,data);
}
if ( regval & CAN_ICR_TI1) //Transmit interrupt 1
can_txdone(&g_can2dev);
#endif
return OK;
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: lpc17_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 *lpc17_caninitialize(int port)
{
uint32_t regval;
irqstate_t flags;
flags = irqsave();
struct can_dev_s *candev=NULL;
#ifdef CONFIG_LPC17_CAN1
if( port == 1 )
{
regval = getreg32(LPC17_SYSCON_PCONP);
regval |= SYSCON_PCONP_PCCAN1;
putreg32(regval, LPC17_SYSCON_PCONP);
regval = getreg32(LPC17_SYSCON_PCLKSEL0);
regval &= ~SYSCON_PCLKSEL0_CAN1_MASK;
regval |= (SYSCON_PCLKSEL_CCLK4 << SYSCON_PCLKSEL0_CAN1_SHIFT);
putreg32(regval, LPC17_SYSCON_PCLKSEL0);
lpc17_configgpio(GPIO_CAN1_RD);
lpc17_configgpio(GPIO_CAN1_TD);
putreg32(0x01,LPC17_CAN1_MOD);
putreg32(0x00,LPC17_CAN1_IER);
putreg32(0x00,LPC17_CAN1_GSR);
putreg32(0x02,LPC17_CAN1_CMR);
putreg32(0x49c009,LPC17_CAN1_BTR);
putreg32(0x00,LPC17_CAN1_MOD);
putreg32(0x01,LPC17_CAN1_IER);
putreg32(0x02,LPC17_CANAF_AFMR);
candev = &g_can1dev;
}
#endif
#ifdef CONFIG_LPC17_CAN2
if ( port ==2 )
{
regval = getreg32(LPC17_SYSCON_PCONP);
regval |= SYSCON_PCONP_PCCAN2;
putreg32(regval, LPC17_SYSCON_PCONP);
regval = getreg32(LPC17_SYSCON_PCLKSEL0);
regval &= ~SYSCON_PCLKSEL0_CAN2_MASK;
regval |= (SYSCON_PCLKSEL_CCLK4 << SYSCON_PCLKSEL0_CAN2_SHIFT);
putreg32(regval, LPC17_SYSCON_PCLKSEL0);
lpc17_configgpio(GPIO_CAN2_RD);
lpc17_configgpio(GPIO_CAN2_TD);
putreg32(0x01,LPC17_CAN2_MOD);
putreg32(0x00,LPC17_CAN2_IER);
putreg32(0x00,LPC17_CAN2_GSR);
putreg32(0x02,LPC17_CAN2_CMR);
putreg32(0x49c009,LPC17_CAN2_BTR);
putreg32(0x00,LPC17_CAN2_MOD);
putreg32(0x01,LPC17_CAN2_IER);
putreg32(0x02,LPC17_CANAF_AFMR);
candev = &g_can2dev;
}
#endif
irqrestore(flags);
return candev;
}
#endif
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