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can_mcux_flexcan.c
1441 lines (1217 loc) · 40.2 KB
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can_mcux_flexcan.c
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/*
* Copyright (c) 2019 Vestas Wind Systems A/S
*
* SPDX-License-Identifier: Apache-2.0
*/
/* Base driver compatible */
#define DT_DRV_COMPAT nxp_flexcan
/* CAN FD extension compatible */
#define FLEXCAN_FD_DRV_COMPAT nxp_flexcan_fd
#include <zephyr/kernel.h>
#include <zephyr/sys/atomic.h>
#include <zephyr/drivers/can.h>
#include <zephyr/drivers/can/transceiver.h>
#include <zephyr/drivers/clock_control.h>
#include <zephyr/device.h>
#include <zephyr/sys/byteorder.h>
#include <fsl_flexcan.h>
#include <zephyr/logging/log.h>
#include <zephyr/irq.h>
#include <zephyr/drivers/pinctrl.h>
LOG_MODULE_REGISTER(can_mcux_flexcan, CONFIG_CAN_LOG_LEVEL);
#if ((defined(FSL_FEATURE_FLEXCAN_HAS_ERRATA_5641) && FSL_FEATURE_FLEXCAN_HAS_ERRATA_5641) || \
(defined(FSL_FEATURE_FLEXCAN_HAS_ERRATA_5829) && FSL_FEATURE_FLEXCAN_HAS_ERRATA_5829))
/* the first valid MB should be occupied by ERRATA 5461 or 5829. */
#define RX_START_IDX 1
#else
#define RX_START_IDX 0
#endif
/* The maximum number of message buffers for concurrent active instances */
#ifdef CONFIG_CAN_MAX_MB
#define MCUX_FLEXCAN_MAX_MB CONFIG_CAN_MAX_MB
#else
#define MCUX_FLEXCAN_MAX_MB FSL_FEATURE_FLEXCAN_HAS_MESSAGE_BUFFER_MAX_NUMBERn(0)
#endif
/*
* RX message buffers (filters) will take up the first N message
* buffers. The rest are available for TX use.
*/
#define MCUX_FLEXCAN_MAX_RX (CONFIG_CAN_MAX_FILTER + RX_START_IDX)
#define MCUX_FLEXCAN_MAX_TX (MCUX_FLEXCAN_MAX_MB - MCUX_FLEXCAN_MAX_RX)
/*
* Convert from RX message buffer index to allocated filter ID and
* vice versa.
*/
#define RX_MBIDX_TO_ALLOC_IDX(x) (x)
#define ALLOC_IDX_TO_RXMB_IDX(x) (x)
/*
* Convert from TX message buffer index to allocated TX ID and vice
* versa.
*/
#define TX_MBIDX_TO_ALLOC_IDX(x) (x - MCUX_FLEXCAN_MAX_RX)
#define ALLOC_IDX_TO_TXMB_IDX(x) (x + MCUX_FLEXCAN_MAX_RX)
/* Convert from back from FLEXCAN IDs to Zephyr CAN IDs. */
#define FLEXCAN_ID_TO_CAN_ID_STD(id) \
((uint32_t)((((uint32_t)(id)) & CAN_ID_STD_MASK) >> CAN_ID_STD_SHIFT))
#define FLEXCAN_ID_TO_CAN_ID_EXT(id) \
((uint32_t)((((uint32_t)(id)) & (CAN_ID_STD_MASK | CAN_ID_EXT_MASK)) \
>> CAN_ID_EXT_SHIFT))
struct mcux_flexcan_config {
const struct can_driver_config common;
CAN_Type *base;
const struct device *clock_dev;
clock_control_subsys_t clock_subsys;
int clk_source;
#ifdef CONFIG_CAN_MCUX_FLEXCAN_FD
bool flexcan_fd;
#endif /* CONFIG_CAN_MCUX_FLEXCAN_FD */
void (*irq_config_func)(const struct device *dev);
void (*irq_enable_func)(void);
void (*irq_disable_func)(void);
const struct pinctrl_dev_config *pincfg;
};
struct mcux_flexcan_rx_callback {
flexcan_rx_mb_config_t mb_config;
union {
flexcan_frame_t classic;
#ifdef CONFIG_CAN_MCUX_FLEXCAN_FD
flexcan_fd_frame_t fd;
#endif /* CONFIG_CAN_MCUX_FLEXCAN_FD */
} frame;
can_rx_callback_t function;
void *arg;
};
struct mcux_flexcan_tx_callback {
can_tx_callback_t function;
void *arg;
};
struct mcux_flexcan_data {
struct can_driver_data common;
const struct device *dev;
flexcan_handle_t handle;
ATOMIC_DEFINE(rx_allocs, MCUX_FLEXCAN_MAX_RX);
struct k_mutex rx_mutex;
struct mcux_flexcan_rx_callback rx_cbs[MCUX_FLEXCAN_MAX_RX];
ATOMIC_DEFINE(tx_allocs, MCUX_FLEXCAN_MAX_TX);
struct k_sem tx_allocs_sem;
struct k_mutex tx_mutex;
struct mcux_flexcan_tx_callback tx_cbs[MCUX_FLEXCAN_MAX_TX];
enum can_state state;
struct can_timing timing;
#ifdef CONFIG_CAN_MCUX_FLEXCAN_FD
struct can_timing timing_data;
#endif /* CONFIG_CAN_MCUX_FLEXCAN_FD */
};
static int mcux_flexcan_get_core_clock(const struct device *dev, uint32_t *rate)
{
const struct mcux_flexcan_config *config = dev->config;
return clock_control_get_rate(config->clock_dev, config->clock_subsys, rate);
}
static int mcux_flexcan_get_max_filters(const struct device *dev, bool ide)
{
ARG_UNUSED(ide);
return CONFIG_CAN_MAX_FILTER;
}
static int mcux_flexcan_set_timing(const struct device *dev,
const struct can_timing *timing)
{
struct mcux_flexcan_data *data = dev->data;
if (!timing) {
return -EINVAL;
}
if (data->common.started) {
return -EBUSY;
}
data->timing = *timing;
return 0;
}
#ifdef CONFIG_CAN_MCUX_FLEXCAN_FD
static int mcux_flexcan_set_timing_data(const struct device *dev,
const struct can_timing *timing_data)
{
struct mcux_flexcan_data *data = dev->data;
if (!timing_data) {
return -EINVAL;
}
if (data->common.started) {
return -EBUSY;
}
data->timing_data = *timing_data;
return 0;
}
#endif /* CONFIG_CAN_MCUX_FLEXCAN_FD */
static int mcux_flexcan_get_capabilities(const struct device *dev, can_mode_t *cap)
{
__maybe_unused const struct mcux_flexcan_config *config = dev->config;
*cap = CAN_MODE_NORMAL | CAN_MODE_LOOPBACK | CAN_MODE_LISTENONLY | CAN_MODE_3_SAMPLES;
if (IS_ENABLED(CONFIG_CAN_MANUAL_RECOVERY_MODE)) {
*cap |= CAN_MODE_MANUAL_RECOVERY;
}
if (UTIL_AND(IS_ENABLED(CONFIG_CAN_MCUX_FLEXCAN_FD), config->flexcan_fd)) {
*cap |= CAN_MODE_FD;
}
return 0;
}
static status_t mcux_flexcan_mb_start(const struct device *dev, int alloc)
{
const struct mcux_flexcan_config *config = dev->config;
struct mcux_flexcan_data *data = dev->data;
flexcan_mb_transfer_t xfer;
status_t status;
__ASSERT_NO_MSG(alloc >= 0 && alloc < ARRAY_SIZE(data->rx_cbs));
xfer.mbIdx = ALLOC_IDX_TO_RXMB_IDX(alloc);
#ifdef CONFIG_CAN_MCUX_FLEXCAN_FD
if ((data->common.mode & CAN_MODE_FD) != 0U) {
xfer.framefd = &data->rx_cbs[alloc].frame.fd;
FLEXCAN_SetFDRxMbConfig(config->base, ALLOC_IDX_TO_RXMB_IDX(alloc),
&data->rx_cbs[alloc].mb_config, true);
status = FLEXCAN_TransferFDReceiveNonBlocking(config->base, &data->handle, &xfer);
} else {
#endif /* CONFIG_CAN_MCUX_FLEXCAN_FD */
xfer.frame = &data->rx_cbs[alloc].frame.classic;
FLEXCAN_SetRxMbConfig(config->base, ALLOC_IDX_TO_RXMB_IDX(alloc),
&data->rx_cbs[alloc].mb_config, true);
status = FLEXCAN_TransferReceiveNonBlocking(config->base, &data->handle, &xfer);
#ifdef CONFIG_CAN_MCUX_FLEXCAN_FD
}
#endif /* CONFIG_CAN_MCUX_FLEXCAN_FD */
return status;
}
static void mcux_flexcan_mb_stop(const struct device *dev, int alloc)
{
const struct mcux_flexcan_config *config = dev->config;
struct mcux_flexcan_data *data = dev->data;
__ASSERT_NO_MSG(alloc >= 0 && alloc < ARRAY_SIZE(data->rx_cbs));
#ifdef CONFIG_CAN_MCUX_FLEXCAN_FD
if ((data->common.mode & CAN_MODE_FD) != 0U) {
FLEXCAN_TransferFDAbortReceive(config->base, &data->handle,
ALLOC_IDX_TO_RXMB_IDX(alloc));
FLEXCAN_SetFDRxMbConfig(config->base, ALLOC_IDX_TO_RXMB_IDX(alloc),
NULL, false);
} else {
#endif /* CONFIG_CAN_MCUX_FLEXCAN_FD */
FLEXCAN_TransferAbortReceive(config->base, &data->handle,
ALLOC_IDX_TO_RXMB_IDX(alloc));
FLEXCAN_SetRxMbConfig(config->base, ALLOC_IDX_TO_RXMB_IDX(alloc),
NULL, false);
#ifdef CONFIG_CAN_MCUX_FLEXCAN_FD
}
#endif /* CONFIG_CAN_MCUX_FLEXCAN_FD */
}
static int mcux_flexcan_start(const struct device *dev)
{
const struct mcux_flexcan_config *config = dev->config;
struct mcux_flexcan_data *data = dev->data;
flexcan_timing_config_t timing;
int err;
if (data->common.started) {
return -EALREADY;
}
if (config->common.phy != NULL) {
err = can_transceiver_enable(config->common.phy, data->common.mode);
if (err != 0) {
LOG_ERR("failed to enable CAN transceiver (err %d)", err);
return err;
}
}
/* Reset statistics and clear error counters */
CAN_STATS_RESET(dev);
config->base->ECR &= ~(CAN_ECR_TXERRCNT_MASK | CAN_ECR_RXERRCNT_MASK);
#ifdef CONFIG_CAN_MCUX_FLEXCAN_FD
status_t status;
int alloc;
if (config->flexcan_fd) {
/* Re-add all RX filters using current mode */
k_mutex_lock(&data->rx_mutex, K_FOREVER);
for (alloc = RX_START_IDX; alloc < MCUX_FLEXCAN_MAX_RX; alloc++) {
if (atomic_test_bit(data->rx_allocs, alloc)) {
status = mcux_flexcan_mb_start(dev, alloc);
if (status != kStatus_Success) {
LOG_ERR("Failed to re-add rx filter id %d (err = %d)",
alloc, status);
k_mutex_unlock(&data->rx_mutex);
return -EIO;
}
}
}
k_mutex_unlock(&data->rx_mutex);
}
#endif /* CONFIG_CAN_MCUX_FLEXCAN_FD */
/* Delay this until start since setting the timing automatically exits freeze mode */
timing.preDivider = data->timing.prescaler - 1U;
timing.rJumpwidth = data->timing.sjw - 1U;
timing.phaseSeg1 = data->timing.phase_seg1 - 1U;
timing.phaseSeg2 = data->timing.phase_seg2 - 1U;
timing.propSeg = data->timing.prop_seg - 1U;
FLEXCAN_SetTimingConfig(config->base, &timing);
#ifdef CONFIG_CAN_MCUX_FLEXCAN_FD
if (config->flexcan_fd) {
timing.fpreDivider = data->timing_data.prescaler - 1U;
timing.frJumpwidth = data->timing_data.sjw - 1U;
timing.fphaseSeg1 = data->timing_data.phase_seg1 - 1U;
timing.fphaseSeg2 = data->timing_data.phase_seg2 - 1U;
timing.fpropSeg = data->timing_data.prop_seg;
FLEXCAN_SetFDTimingConfig(config->base, &timing);
}
#endif /* CONFIG_CAN_MCUX_FLEXCAN_FD */
data->common.started = true;
return 0;
}
static int mcux_flexcan_stop(const struct device *dev)
{
const struct mcux_flexcan_config *config = dev->config;
struct mcux_flexcan_data *data = dev->data;
can_tx_callback_t function;
void *arg;
int alloc;
int err;
if (!data->common.started) {
return -EALREADY;
}
data->common.started = false;
/* Abort any pending TX frames before entering freeze mode */
for (alloc = 0; alloc < MCUX_FLEXCAN_MAX_TX; alloc++) {
function = data->tx_cbs[alloc].function;
arg = data->tx_cbs[alloc].arg;
if (atomic_test_and_clear_bit(data->tx_allocs, alloc)) {
#ifdef CONFIG_CAN_MCUX_FLEXCAN_FD
if ((data->common.mode & CAN_MODE_FD) != 0U) {
FLEXCAN_TransferFDAbortSend(config->base, &data->handle,
ALLOC_IDX_TO_TXMB_IDX(alloc));
} else {
#endif /* CONFIG_CAN_MCUX_FLEXCAN_FD */
FLEXCAN_TransferAbortSend(config->base, &data->handle,
ALLOC_IDX_TO_TXMB_IDX(alloc));
#ifdef CONFIG_CAN_MCUX_FLEXCAN_FD
}
#endif /* CONFIG_CAN_MCUX_FLEXCAN_FD */
function(dev, -ENETDOWN, arg);
k_sem_give(&data->tx_allocs_sem);
}
}
FLEXCAN_EnterFreezeMode(config->base);
if (UTIL_AND(IS_ENABLED(CONFIG_CAN_MCUX_FLEXCAN_FD), config->flexcan_fd)) {
/*
* Remove all RX filters and re-add them in start() since the mode may change
* between stop()/start().
*/
k_mutex_lock(&data->rx_mutex, K_FOREVER);
for (alloc = RX_START_IDX; alloc < MCUX_FLEXCAN_MAX_RX; alloc++) {
if (atomic_test_bit(data->rx_allocs, alloc)) {
mcux_flexcan_mb_stop(dev, alloc);
}
}
k_mutex_unlock(&data->rx_mutex);
}
if (config->common.phy != NULL) {
err = can_transceiver_disable(config->common.phy);
if (err != 0) {
LOG_ERR("failed to disable CAN transceiver (err %d)", err);
return err;
}
}
return 0;
}
static int mcux_flexcan_set_mode(const struct device *dev, can_mode_t mode)
{
can_mode_t supported = CAN_MODE_LOOPBACK | CAN_MODE_LISTENONLY | CAN_MODE_3_SAMPLES;
const struct mcux_flexcan_config *config = dev->config;
struct mcux_flexcan_data *data = dev->data;
uint32_t ctrl1;
uint32_t mcr;
if (data->common.started) {
return -EBUSY;
}
if (IS_ENABLED(CONFIG_CAN_MANUAL_RECOVERY_MODE)) {
supported |= CAN_MODE_MANUAL_RECOVERY;
}
if (UTIL_AND(IS_ENABLED(CONFIG_CAN_MCUX_FLEXCAN_FD), config->flexcan_fd)) {
supported |= CAN_MODE_FD;
}
if ((mode & ~(supported)) != 0) {
LOG_ERR("unsupported mode: 0x%08x", mode);
return -ENOTSUP;
}
if ((mode & CAN_MODE_FD) != 0 && (mode & CAN_MODE_3_SAMPLES) != 0) {
LOG_ERR("triple samling is not supported in CAN FD mode");
return -ENOTSUP;
}
ctrl1 = config->base->CTRL1;
mcr = config->base->MCR;
if ((mode & CAN_MODE_LOOPBACK) != 0) {
/* Enable loopback and self-reception */
ctrl1 |= CAN_CTRL1_LPB_MASK;
mcr &= ~(CAN_MCR_SRXDIS_MASK);
} else {
/* Disable loopback and self-reception */
ctrl1 &= ~(CAN_CTRL1_LPB_MASK);
mcr |= CAN_MCR_SRXDIS_MASK;
}
if ((mode & CAN_MODE_LISTENONLY) != 0) {
/* Enable listen-only mode */
ctrl1 |= CAN_CTRL1_LOM_MASK;
} else {
/* Disable listen-only mode */
ctrl1 &= ~(CAN_CTRL1_LOM_MASK);
}
if ((mode & CAN_MODE_3_SAMPLES) != 0) {
/* Enable triple sampling mode */
ctrl1 |= CAN_CTRL1_SMP_MASK;
} else {
/* Disable triple sampling mode */
ctrl1 &= ~(CAN_CTRL1_SMP_MASK);
}
if (IS_ENABLED(CONFIG_CAN_MANUAL_RECOVERY_MODE)) {
if ((mode & CAN_MODE_MANUAL_RECOVERY) != 0) {
/* Disable auto-recovery from bus-off */
ctrl1 |= CAN_CTRL1_BOFFREC_MASK;
} else {
/* Enable auto-recovery from bus-off */
ctrl1 &= ~(CAN_CTRL1_BOFFREC_MASK);
}
}
#ifdef CONFIG_CAN_MCUX_FLEXCAN_FD
if (config->flexcan_fd) {
if ((mode & CAN_MODE_FD) != 0) {
/* Enable CAN FD mode */
mcr |= CAN_MCR_FDEN_MASK;
/* Transceiver Delay Compensation must be disabled in loopback mode */
if ((mode & CAN_MODE_LOOPBACK) != 0) {
config->base->FDCTRL &= ~(CAN_FDCTRL_TDCEN_MASK);
} else {
config->base->FDCTRL |= CAN_FDCTRL_TDCEN_MASK;
}
} else {
/* Disable CAN FD mode */
mcr &= ~(CAN_MCR_FDEN_MASK);
}
}
#endif /* CONFIG_CAN_MCUX_FLEXCAN_FD */
config->base->CTRL1 = ctrl1;
config->base->MCR = mcr;
data->common.mode = mode;
return 0;
}
static void mcux_flexcan_from_can_frame(const struct can_frame *src,
flexcan_frame_t *dest)
{
memset(dest, 0, sizeof(*dest));
if ((src->flags & CAN_FRAME_IDE) != 0) {
dest->format = kFLEXCAN_FrameFormatExtend;
dest->id = FLEXCAN_ID_EXT(src->id);
} else {
dest->format = kFLEXCAN_FrameFormatStandard;
dest->id = FLEXCAN_ID_STD(src->id);
}
if ((src->flags & CAN_FRAME_RTR) != 0) {
dest->type = kFLEXCAN_FrameTypeRemote;
} else {
dest->type = kFLEXCAN_FrameTypeData;
dest->dataWord0 = sys_cpu_to_be32(src->data_32[0]);
dest->dataWord1 = sys_cpu_to_be32(src->data_32[1]);
}
dest->length = src->dlc;
}
static void mcux_flexcan_to_can_frame(const flexcan_frame_t *src,
struct can_frame *dest)
{
memset(dest, 0, sizeof(*dest));
if (src->format == kFLEXCAN_FrameFormatStandard) {
dest->id = FLEXCAN_ID_TO_CAN_ID_STD(src->id);
} else {
dest->flags |= CAN_FRAME_IDE;
dest->id = FLEXCAN_ID_TO_CAN_ID_EXT(src->id);
}
if (src->type == kFLEXCAN_FrameTypeRemote) {
dest->flags |= CAN_FRAME_RTR;
} else {
dest->data_32[0] = sys_be32_to_cpu(src->dataWord0);
dest->data_32[1] = sys_be32_to_cpu(src->dataWord1);
}
dest->dlc = src->length;
#ifdef CONFIG_CAN_RX_TIMESTAMP
dest->timestamp = src->timestamp;
#endif /* CAN_RX_TIMESTAMP */
}
#ifdef CONFIG_CAN_MCUX_FLEXCAN_FD
static void mcux_flexcan_fd_from_can_frame(const struct can_frame *src,
flexcan_fd_frame_t *dest)
{
int i;
memset(dest, 0, sizeof(*dest));
if ((src->flags & CAN_FRAME_IDE) != 0) {
dest->format = kFLEXCAN_FrameFormatExtend;
dest->id = FLEXCAN_ID_EXT(src->id);
} else {
dest->format = kFLEXCAN_FrameFormatStandard;
dest->id = FLEXCAN_ID_STD(src->id);
}
if ((src->flags & CAN_FRAME_RTR) != 0) {
dest->type = kFLEXCAN_FrameTypeRemote;
} else {
dest->type = kFLEXCAN_FrameTypeData;
for (i = 0; i < ARRAY_SIZE(dest->dataWord); i++) {
dest->dataWord[i] = sys_cpu_to_be32(src->data_32[i]);
}
}
if ((src->flags & CAN_FRAME_FDF) != 0) {
dest->edl = 1;
}
if ((src->flags & CAN_FRAME_BRS) != 0) {
dest->brs = 1;
}
dest->length = src->dlc;
}
static void mcux_flexcan_fd_to_can_frame(const flexcan_fd_frame_t *src,
struct can_frame *dest)
{
int i;
memset(dest, 0, sizeof(*dest));
if (src->format == kFLEXCAN_FrameFormatStandard) {
dest->id = FLEXCAN_ID_TO_CAN_ID_STD(src->id);
} else {
dest->flags |= CAN_FRAME_IDE;
dest->id = FLEXCAN_ID_TO_CAN_ID_EXT(src->id);
}
if (src->type == kFLEXCAN_FrameTypeRemote) {
dest->flags |= CAN_FRAME_RTR;
} else {
for (i = 0; i < ARRAY_SIZE(dest->data_32); i++) {
dest->data_32[i] = sys_be32_to_cpu(src->dataWord[i]);
}
}
if (src->edl != 0) {
dest->flags |= CAN_FRAME_FDF;
}
if (src->brs != 0) {
dest->flags |= CAN_FRAME_BRS;
}
if (src->esi != 0) {
dest->flags |= CAN_FRAME_ESI;
}
dest->dlc = src->length;
#ifdef CONFIG_CAN_RX_TIMESTAMP
dest->timestamp = src->timestamp;
#endif /* CAN_RX_TIMESTAMP */
}
#endif /* CONFIG_CAN_MCUX_FLEXCAN_FD */
static void mcux_flexcan_can_filter_to_mbconfig(const struct can_filter *src,
flexcan_rx_mb_config_t *dest,
uint32_t *mask)
{
static const uint32_t ide_mask = 1U;
static const uint32_t rtr_mask = !IS_ENABLED(CONFIG_CAN_ACCEPT_RTR);
if ((src->flags & CAN_FILTER_IDE) != 0) {
dest->format = kFLEXCAN_FrameFormatExtend;
dest->id = FLEXCAN_ID_EXT(src->id);
*mask = FLEXCAN_RX_MB_EXT_MASK(src->mask, rtr_mask, ide_mask);
} else {
dest->format = kFLEXCAN_FrameFormatStandard;
dest->id = FLEXCAN_ID_STD(src->id);
*mask = FLEXCAN_RX_MB_STD_MASK(src->mask, rtr_mask, ide_mask);
}
dest->type = kFLEXCAN_FrameTypeData;
}
static int mcux_flexcan_get_state(const struct device *dev, enum can_state *state,
struct can_bus_err_cnt *err_cnt)
{
const struct mcux_flexcan_config *config = dev->config;
struct mcux_flexcan_data *data = dev->data;
uint64_t status_flags;
if (state != NULL) {
if (!data->common.started) {
*state = CAN_STATE_STOPPED;
} else {
status_flags = FLEXCAN_GetStatusFlags(config->base);
if ((status_flags & CAN_ESR1_FLTCONF(2)) != 0U) {
*state = CAN_STATE_BUS_OFF;
} else if ((status_flags & CAN_ESR1_FLTCONF(1)) != 0U) {
*state = CAN_STATE_ERROR_PASSIVE;
} else if ((status_flags &
(kFLEXCAN_TxErrorWarningFlag | kFLEXCAN_RxErrorWarningFlag)) != 0) {
*state = CAN_STATE_ERROR_WARNING;
} else {
*state = CAN_STATE_ERROR_ACTIVE;
}
}
}
if (err_cnt != NULL) {
FLEXCAN_GetBusErrCount(config->base, &err_cnt->tx_err_cnt,
&err_cnt->rx_err_cnt);
}
return 0;
}
static int mcux_flexcan_send(const struct device *dev,
const struct can_frame *frame,
k_timeout_t timeout,
can_tx_callback_t callback, void *user_data)
{
const struct mcux_flexcan_config *config = dev->config;
struct mcux_flexcan_data *data = dev->data;
flexcan_mb_transfer_t xfer;
enum can_state state;
status_t status = kStatus_Fail;
uint8_t max_dlc = CAN_MAX_DLC;
int alloc;
__ASSERT_NO_MSG(callback != NULL);
if (UTIL_AND(IS_ENABLED(CONFIG_CAN_MCUX_FLEXCAN_FD),
((data->common.mode & CAN_MODE_FD) != 0U))) {
if ((frame->flags & ~(CAN_FRAME_IDE | CAN_FRAME_RTR |
CAN_FRAME_FDF | CAN_FRAME_BRS)) != 0) {
LOG_ERR("unsupported CAN frame flags 0x%02x", frame->flags);
return -ENOTSUP;
}
if ((frame->flags & CAN_FRAME_FDF) != 0) {
max_dlc = CANFD_MAX_DLC;
}
} else {
if ((frame->flags & ~(CAN_FRAME_IDE | CAN_FRAME_RTR)) != 0) {
LOG_ERR("unsupported CAN frame flags 0x%02x", frame->flags);
return -ENOTSUP;
}
}
if (frame->dlc > max_dlc) {
LOG_ERR("DLC of %d exceeds maximum (%d)", frame->dlc, max_dlc);
return -EINVAL;
}
if (!data->common.started) {
return -ENETDOWN;
}
(void)mcux_flexcan_get_state(dev, &state, NULL);
if (state == CAN_STATE_BUS_OFF) {
LOG_DBG("Transmit failed, bus-off");
return -ENETUNREACH;
}
if (k_sem_take(&data->tx_allocs_sem, timeout) != 0) {
return -EAGAIN;
}
for (alloc = 0; alloc < MCUX_FLEXCAN_MAX_TX; alloc++) {
if (!atomic_test_and_set_bit(data->tx_allocs, alloc)) {
break;
}
}
data->tx_cbs[alloc].function = callback;
data->tx_cbs[alloc].arg = user_data;
xfer.mbIdx = ALLOC_IDX_TO_TXMB_IDX(alloc);
#ifdef CONFIG_CAN_MCUX_FLEXCAN_FD
if ((data->common.mode & CAN_MODE_FD) != 0U) {
FLEXCAN_SetFDTxMbConfig(config->base, xfer.mbIdx, true);
} else {
#endif /* CONFIG_CAN_MCUX_FLEXCAN_FD */
FLEXCAN_SetTxMbConfig(config->base, xfer.mbIdx, true);
#ifdef CONFIG_CAN_MCUX_FLEXCAN_FD
}
#endif /* CONFIG_CAN_MCUX_FLEXCAN_FD */
k_mutex_lock(&data->tx_mutex, K_FOREVER);
config->irq_disable_func();
#ifdef CONFIG_CAN_MCUX_FLEXCAN_FD
if ((data->common.mode & CAN_MODE_FD) != 0U) {
flexcan_fd_frame_t flexcan_frame;
mcux_flexcan_fd_from_can_frame(frame, &flexcan_frame);
xfer.framefd = &flexcan_frame;
status = FLEXCAN_TransferFDSendNonBlocking(config->base, &data->handle, &xfer);
} else {
#endif /* CONFIG_CAN_MCUX_FLEXCAN_FD */
flexcan_frame_t flexcan_frame;
mcux_flexcan_from_can_frame(frame, &flexcan_frame);
xfer.frame = &flexcan_frame;
status = FLEXCAN_TransferSendNonBlocking(config->base, &data->handle, &xfer);
#ifdef CONFIG_CAN_MCUX_FLEXCAN_FD
}
#endif /* CONFIG_CAN_MCUX_FLEXCAN_FD */
config->irq_enable_func();
k_mutex_unlock(&data->tx_mutex);
if (status != kStatus_Success) {
return -EIO;
}
return 0;
}
static int mcux_flexcan_add_rx_filter(const struct device *dev,
can_rx_callback_t callback,
void *user_data,
const struct can_filter *filter)
{
const struct mcux_flexcan_config *config = dev->config;
struct mcux_flexcan_data *data = dev->data;
status_t status;
uint32_t mask;
int alloc = -ENOSPC;
int i;
__ASSERT_NO_MSG(callback);
if ((filter->flags & ~(CAN_FILTER_IDE)) != 0) {
LOG_ERR("unsupported CAN filter flags 0x%02x", filter->flags);
return -ENOTSUP;
}
k_mutex_lock(&data->rx_mutex, K_FOREVER);
/* Find and allocate RX message buffer */
for (i = RX_START_IDX; i < MCUX_FLEXCAN_MAX_RX; i++) {
if (!atomic_test_and_set_bit(data->rx_allocs, i)) {
alloc = i;
break;
}
}
if (alloc == -ENOSPC) {
goto unlock;
}
mcux_flexcan_can_filter_to_mbconfig(filter, &data->rx_cbs[alloc].mb_config,
&mask);
data->rx_cbs[alloc].arg = user_data;
data->rx_cbs[alloc].function = callback;
/* The indidual RX mask registers can only be written in freeze mode */
FLEXCAN_EnterFreezeMode(config->base);
config->base->RXIMR[ALLOC_IDX_TO_RXMB_IDX(alloc)] = mask;
if (data->common.started) {
FLEXCAN_ExitFreezeMode(config->base);
}
#ifdef CONFIG_CAN_MCUX_FLEXCAN_FD
/* Defer starting FlexCAN FD MBs unless started */
if (!config->flexcan_fd || data->common.started) {
#endif /* CONFIG_CAN_MCUX_FLEXCAN_FD */
status = mcux_flexcan_mb_start(dev, alloc);
if (status != kStatus_Success) {
LOG_ERR("Failed to start rx for filter id %d (err = %d)",
alloc, status);
alloc = -ENOSPC;
}
#ifdef CONFIG_CAN_MCUX_FLEXCAN_FD
}
#endif /* CONFIG_CAN_MCUX_FLEXCAN_FD */
unlock:
k_mutex_unlock(&data->rx_mutex);
return alloc;
}
static void mcux_flexcan_set_state_change_callback(const struct device *dev,
can_state_change_callback_t callback,
void *user_data)
{
struct mcux_flexcan_data *data = dev->data;
data->common.state_change_cb = callback;
data->common.state_change_cb_user_data = user_data;
}
#ifdef CONFIG_CAN_MANUAL_RECOVERY_MODE
static int mcux_flexcan_recover(const struct device *dev, k_timeout_t timeout)
{
const struct mcux_flexcan_config *config = dev->config;
struct mcux_flexcan_data *data = dev->data;
enum can_state state;
uint64_t start_time;
int ret = 0;
if (!data->common.started) {
return -ENETDOWN;
}
if ((data->common.mode & CAN_MODE_MANUAL_RECOVERY) == 0U) {
return -ENOTSUP;
}
(void)mcux_flexcan_get_state(dev, &state, NULL);
if (state != CAN_STATE_BUS_OFF) {
return 0;
}
start_time = k_uptime_ticks();
config->base->CTRL1 &= ~CAN_CTRL1_BOFFREC_MASK;
if (!K_TIMEOUT_EQ(timeout, K_NO_WAIT)) {
(void)mcux_flexcan_get_state(dev, &state, NULL);
while (state == CAN_STATE_BUS_OFF) {
if (!K_TIMEOUT_EQ(timeout, K_FOREVER) &&
k_uptime_ticks() - start_time >= timeout.ticks) {
ret = -EAGAIN;
}
(void)mcux_flexcan_get_state(dev, &state, NULL);
}
}
config->base->CTRL1 |= CAN_CTRL1_BOFFREC_MASK;
return ret;
}
#endif /* CONFIG_CAN_MANUAL_RECOVERY_MODE */
static void mcux_flexcan_remove_rx_filter(const struct device *dev, int filter_id)
{
struct mcux_flexcan_data *data = dev->data;
if (filter_id < 0 || filter_id >= MCUX_FLEXCAN_MAX_RX) {
LOG_ERR("filter ID %d out of bounds", filter_id);
return;
}
k_mutex_lock(&data->rx_mutex, K_FOREVER);
if (atomic_test_and_clear_bit(data->rx_allocs, filter_id)) {
#ifdef CONFIG_CAN_MCUX_FLEXCAN_FD
const struct mcux_flexcan_config *config = dev->config;
/* Stop FlexCAN FD MBs unless already in stopped mode */
if (!config->flexcan_fd || data->common.started) {
#endif /* CONFIG_CAN_MCUX_FLEXCAN_FD */
mcux_flexcan_mb_stop(dev, filter_id);
#ifdef CONFIG_CAN_MCUX_FLEXCAN_FD
}
#endif /* CONFIG_CAN_MCUX_FLEXCAN_FD */
data->rx_cbs[filter_id].function = NULL;
data->rx_cbs[filter_id].arg = NULL;
} else {
LOG_WRN("Filter ID %d already detached", filter_id);
}
k_mutex_unlock(&data->rx_mutex);
}
static inline void mcux_flexcan_transfer_error_status(const struct device *dev,
uint64_t error)
{
const struct mcux_flexcan_config *config = dev->config;
struct mcux_flexcan_data *data = dev->data;
const can_state_change_callback_t cb = data->common.state_change_cb;
void *cb_data = data->common.state_change_cb_user_data;
can_tx_callback_t function;
void *arg;
int alloc;
enum can_state state;
struct can_bus_err_cnt err_cnt;
if ((error & kFLEXCAN_Bit0Error) != 0U) {
CAN_STATS_BIT0_ERROR_INC(dev);
}
if ((error & kFLEXCAN_Bit1Error) != 0U) {
CAN_STATS_BIT1_ERROR_INC(dev);
}
if ((error & kFLEXCAN_AckError) != 0U) {
CAN_STATS_ACK_ERROR_INC(dev);
}
if ((error & kFLEXCAN_StuffingError) != 0U) {
CAN_STATS_STUFF_ERROR_INC(dev);
}
if ((error & kFLEXCAN_FormError) != 0U) {
CAN_STATS_FORM_ERROR_INC(dev);
}
if ((error & kFLEXCAN_CrcError) != 0U) {
CAN_STATS_CRC_ERROR_INC(dev);
}
(void)mcux_flexcan_get_state(dev, &state, &err_cnt);
if (data->state != state) {
data->state = state;
if (cb != NULL) {
cb(dev, state, err_cnt, cb_data);
}
}
if (state == CAN_STATE_BUS_OFF) {
/* Abort any pending TX frames in case of bus-off */
for (alloc = 0; alloc < MCUX_FLEXCAN_MAX_TX; alloc++) {
/* Copy callback function and argument before clearing bit */
function = data->tx_cbs[alloc].function;
arg = data->tx_cbs[alloc].arg;
if (atomic_test_and_clear_bit(data->tx_allocs, alloc)) {
#ifdef CONFIG_CAN_MCUX_FLEXCAN_FD
if ((data->common.mode & CAN_MODE_FD) != 0U) {
FLEXCAN_TransferFDAbortSend(config->base, &data->handle,
ALLOC_IDX_TO_TXMB_IDX(alloc));
} else {
#endif /* CONFIG_CAN_MCUX_FLEXCAN_FD */
FLEXCAN_TransferAbortSend(config->base, &data->handle,
ALLOC_IDX_TO_TXMB_IDX(alloc));
#ifdef CONFIG_CAN_MCUX_FLEXCAN_FD
}
#endif /* CONFIG_CAN_MCUX_FLEXCAN_FD */
function(dev, -ENETUNREACH, arg);
k_sem_give(&data->tx_allocs_sem);
}
}
}
}
static inline void mcux_flexcan_transfer_tx_idle(const struct device *dev,
uint32_t mb)
{
struct mcux_flexcan_data *data = dev->data;
can_tx_callback_t function;
void *arg;
int alloc;
alloc = TX_MBIDX_TO_ALLOC_IDX(mb);
/* Copy callback function and argument before clearing bit */
function = data->tx_cbs[alloc].function;