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can_sam.c
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can_sam.c
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/*
* Copyright (c) 2022 Vestas Wind Systems A/S
* Copyright (c) 2021 Alexander Wachter
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <zephyr/drivers/can.h>
#include <zephyr/drivers/can/can_mcan.h>
#include <zephyr/drivers/pinctrl.h>
#include <zephyr/drivers/clock_control/atmel_sam_pmc.h>
#include <soc.h>
#include <zephyr/kernel.h>
#include <zephyr/logging/log.h>
#include <zephyr/irq.h>
LOG_MODULE_REGISTER(can_sam, CONFIG_CAN_LOG_LEVEL);
#define DT_DRV_COMPAT atmel_sam_can
struct can_sam_config {
mm_reg_t base;
mem_addr_t mram;
void (*config_irq)(void);
const struct atmel_sam_pmc_config clock_cfg;
const struct pinctrl_dev_config *pcfg;
int divider;
};
static int can_sam_read_reg(const struct device *dev, uint16_t reg, uint32_t *val)
{
const struct can_mcan_config *mcan_config = dev->config;
const struct can_sam_config *sam_config = mcan_config->custom;
return can_mcan_sys_read_reg(sam_config->base, reg, val);
}
static int can_sam_write_reg(const struct device *dev, uint16_t reg, uint32_t val)
{
const struct can_mcan_config *mcan_config = dev->config;
const struct can_sam_config *sam_config = mcan_config->custom;
return can_mcan_sys_write_reg(sam_config->base, reg, val);
}
static int can_sam_read_mram(const struct device *dev, uint16_t offset, void *dst, size_t len)
{
const struct can_mcan_config *mcan_config = dev->config;
const struct can_sam_config *sam_config = mcan_config->custom;
return can_mcan_sys_read_mram(sam_config->mram, offset, dst, len);
}
static int can_sam_write_mram(const struct device *dev, uint16_t offset, const void *src,
size_t len)
{
const struct can_mcan_config *mcan_config = dev->config;
const struct can_sam_config *sam_config = mcan_config->custom;
return can_mcan_sys_write_mram(sam_config->mram, offset, src, len);
}
static int can_sam_clear_mram(const struct device *dev, uint16_t offset, size_t len)
{
const struct can_mcan_config *mcan_config = dev->config;
const struct can_sam_config *sam_config = mcan_config->custom;
return can_mcan_sys_clear_mram(sam_config->mram, offset, len);
}
static int can_sam_get_core_clock(const struct device *dev, uint32_t *rate)
{
const struct can_mcan_config *mcan_cfg = dev->config;
const struct can_sam_config *sam_cfg = mcan_cfg->custom;
*rate = SOC_ATMEL_SAM_UPLLCK_FREQ_HZ / (sam_cfg->divider);
return 0;
}
static void can_sam_clock_enable(const struct can_sam_config *sam_cfg)
{
REG_PMC_PCK5 = PMC_PCK_CSS_UPLL_CLK | PMC_PCK_PRES(sam_cfg->divider - 1);
PMC->PMC_SCER |= PMC_SCER_PCK5;
/* Enable CAN clock in PMC */
(void)clock_control_on(SAM_DT_PMC_CONTROLLER,
(clock_control_subsys_t)&sam_cfg->clock_cfg);
}
static int can_sam_init(const struct device *dev)
{
const struct can_mcan_config *mcan_cfg = dev->config;
const struct can_sam_config *sam_cfg = mcan_cfg->custom;
int ret;
can_sam_clock_enable(sam_cfg);
ret = pinctrl_apply_state(sam_cfg->pcfg, PINCTRL_STATE_DEFAULT);
if (ret < 0) {
return ret;
}
ret = can_mcan_configure_mram(dev, 0U, sam_cfg->mram);
if (ret != 0) {
return ret;
}
ret = can_mcan_init(dev);
if (ret != 0) {
return ret;
}
sam_cfg->config_irq();
return ret;
}
static const struct can_driver_api can_sam_driver_api = {
.get_capabilities = can_mcan_get_capabilities,
.start = can_mcan_start,
.stop = can_mcan_stop,
.set_mode = can_mcan_set_mode,
.set_timing = can_mcan_set_timing,
.send = can_mcan_send,
.add_rx_filter = can_mcan_add_rx_filter,
.remove_rx_filter = can_mcan_remove_rx_filter,
.get_state = can_mcan_get_state,
#ifdef CONFIG_CAN_MANUAL_RECOVERY_MODE
.recover = can_mcan_recover,
#endif /* CONFIG_CAN_MANUAL_RECOVERY_MODE */
.get_core_clock = can_sam_get_core_clock,
.get_max_filters = can_mcan_get_max_filters,
.set_state_change_callback = can_mcan_set_state_change_callback,
.timing_min = CAN_MCAN_TIMING_MIN_INITIALIZER,
.timing_max = CAN_MCAN_TIMING_MAX_INITIALIZER,
#ifdef CONFIG_CAN_FD_MODE
.set_timing_data = can_mcan_set_timing_data,
.timing_data_min = CAN_MCAN_TIMING_DATA_MIN_INITIALIZER,
.timing_data_max = CAN_MCAN_TIMING_DATA_MAX_INITIALIZER,
#endif /* CONFIG_CAN_FD_MODE */
};
static const struct can_mcan_ops can_sam_ops = {
.read_reg = can_sam_read_reg,
.write_reg = can_sam_write_reg,
.read_mram = can_sam_read_mram,
.write_mram = can_sam_write_mram,
.clear_mram = can_sam_clear_mram,
};
#define CAN_SAM_IRQ_CFG_FUNCTION(inst) \
static void config_can_##inst##_irq(void) \
{ \
LOG_DBG("Enable CAN##inst## IRQ"); \
IRQ_CONNECT(DT_INST_IRQ_BY_NAME(inst, int0, irq), \
DT_INST_IRQ_BY_NAME(inst, int0, priority), can_mcan_line_0_isr, \
DEVICE_DT_INST_GET(inst), 0); \
irq_enable(DT_INST_IRQ_BY_NAME(inst, int0, irq)); \
IRQ_CONNECT(DT_INST_IRQ_BY_NAME(inst, int1, irq), \
DT_INST_IRQ_BY_NAME(inst, int1, priority), can_mcan_line_1_isr, \
DEVICE_DT_INST_GET(inst), 0); \
irq_enable(DT_INST_IRQ_BY_NAME(inst, int1, irq)); \
}
#define CAN_SAM_CFG_INST(inst) \
CAN_MCAN_DT_INST_CALLBACKS_DEFINE(inst, can_sam_cbs_##inst); \
CAN_MCAN_DT_INST_MRAM_DEFINE(inst, can_sam_mram_##inst); \
\
static const struct can_sam_config can_sam_cfg_##inst = { \
.base = CAN_MCAN_DT_INST_MCAN_ADDR(inst), \
.mram = (mem_addr_t)POINTER_TO_UINT(&can_sam_mram_##inst), \
.clock_cfg = SAM_DT_INST_CLOCK_PMC_CFG(inst), \
.divider = DT_INST_PROP(inst, divider), \
.pcfg = PINCTRL_DT_INST_DEV_CONFIG_GET(inst), \
.config_irq = config_can_##inst##_irq, \
}; \
\
static const struct can_mcan_config can_mcan_cfg_##inst = \
CAN_MCAN_DT_CONFIG_INST_GET(inst, &can_sam_cfg_##inst, \
&can_sam_ops, \
&can_sam_cbs_##inst);
#define CAN_SAM_DATA_INST(inst) \
static struct can_mcan_data can_mcan_data_##inst = \
CAN_MCAN_DATA_INITIALIZER(NULL);
#define CAN_SAM_DEVICE_INST(inst) \
CAN_DEVICE_DT_INST_DEFINE(inst, can_sam_init, NULL, \
&can_mcan_data_##inst, \
&can_mcan_cfg_##inst, \
POST_KERNEL, CONFIG_CAN_INIT_PRIORITY, \
&can_sam_driver_api);
#define CAN_SAM_INST(inst) \
CAN_MCAN_DT_INST_BUILD_ASSERT_MRAM_CFG(inst); \
PINCTRL_DT_INST_DEFINE(inst); \
CAN_SAM_IRQ_CFG_FUNCTION(inst) \
CAN_SAM_CFG_INST(inst) \
CAN_SAM_DATA_INST(inst) \
CAN_SAM_DEVICE_INST(inst)
DT_INST_FOREACH_STATUS_OKAY(CAN_SAM_INST)