4  * SPDX-License-Identifier: Apache-2.0
22 static inline void can_sja1000_write_reg(const struct device *dev, uint8_t reg, uint8_t val)  in can_sja1000_write_reg()  argument
24 	const struct can_sja1000_config *config = dev->config;  in can_sja1000_write_reg()
26 	config->write_reg(dev, reg, val);  in can_sja1000_write_reg()
29 static inline uint8_t can_sja1000_read_reg(const struct device *dev, uint8_t reg)  in can_sja1000_read_reg()  argument
31 	const struct can_sja1000_config *config = dev->config;  in can_sja1000_read_reg()
33 	return config->read_reg(dev, reg);  in can_sja1000_read_reg()
44 		if (--retries < 0) {  in can_sja1000_enter_reset_mode()
45 			return -EIO;  in can_sja1000_enter_reset_mode()
72 		if (--retries < 0) {  in can_sja1000_leave_reset_mode()
73 			return -EIO;  in can_sja1000_leave_reset_mode()
96 	struct can_sja1000_data *data = dev->data;  in can_sja1000_tx_done()
97 	can_tx_callback_t callback = data->tx_callback;  in can_sja1000_tx_done()
98 	void *user_data = data->tx_user_data;  in can_sja1000_tx_done()
101 		data->tx_callback = NULL;  in can_sja1000_tx_done()
105 	k_sem_give(&data->tx_idle);  in can_sja1000_tx_done()
110 	struct can_sja1000_data *data = dev->data;  in can_sja1000_set_timing()
114 	if (data->common.started) {  in can_sja1000_set_timing()
115 		return -EBUSY;  in can_sja1000_set_timing()
118 	k_mutex_lock(&data->mod_lock, K_FOREVER);  in can_sja1000_set_timing()
120 	btr0 = CAN_SJA1000_BTR0_BRP_PREP(timing->prescaler - 1) |  in can_sja1000_set_timing()
121 	       CAN_SJA1000_BTR0_SJW_PREP(timing->sjw - 1);  in can_sja1000_set_timing()
122 	btr1 = CAN_SJA1000_BTR1_TSEG1_PREP(timing->phase_seg1 - 1) |  in can_sja1000_set_timing()
123 	       CAN_SJA1000_BTR1_TSEG2_PREP(timing->phase_seg2 - 1);  in can_sja1000_set_timing()
125 	if ((data->common.mode & CAN_MODE_3_SAMPLES) != 0) {  in can_sja1000_set_timing()
132 	k_mutex_unlock(&data->mod_lock);  in can_sja1000_set_timing()
153 	const struct can_sja1000_config *config = dev->config;  in can_sja1000_start()
154 	struct can_sja1000_data *data = dev->data;  in can_sja1000_start()
157 	if (data->common.started) {  in can_sja1000_start()
158 		return -EALREADY;  in can_sja1000_start()
161 	if (config->common.phy != NULL) {  in can_sja1000_start()
162 		err = can_transceiver_enable(config->common.phy, data->common.mode);  in can_sja1000_start()
174 		if (config->common.phy != NULL) {  in can_sja1000_start()
176 			(void)can_transceiver_disable(config->common.phy);  in can_sja1000_start()
182 	data->common.started = true;  in can_sja1000_start()
189 	const struct can_sja1000_config *config = dev->config;  in can_sja1000_stop()
190 	struct can_sja1000_data *data = dev->data;  in can_sja1000_stop()
193 	if (!data->common.started) {  in can_sja1000_stop()
194 		return -EALREADY;  in can_sja1000_stop()
203 	if (config->common.phy != NULL) {  in can_sja1000_stop()
204 		err = can_transceiver_disable(config->common.phy);  in can_sja1000_stop()
211 	data->common.started = false;  in can_sja1000_stop()
213 	can_sja1000_tx_done(dev, -ENETDOWN);  in can_sja1000_stop()
222 	struct can_sja1000_data *data = dev->data;  in can_sja1000_set_mode()
232 		return -ENOTSUP;  in can_sja1000_set_mode()
235 	if (data->common.started) {  in can_sja1000_set_mode()
236 		return -EBUSY;  in can_sja1000_set_mode()
239 	k_mutex_lock(&data->mod_lock, K_FOREVER);  in can_sja1000_set_mode()
267 	data->common.mode = mode;  in can_sja1000_set_mode()
269 	k_mutex_unlock(&data->mod_lock);  in can_sja1000_set_mode()
285 		frame->flags |= CAN_FRAME_RTR;  in can_sja1000_read_frame()
288 	frame->dlc = CAN_SJA1000_FRAME_INFO_DLC_GET(info);  in can_sja1000_read_frame()
289 	if (frame->dlc > CAN_MAX_DLC) {  in can_sja1000_read_frame()
290 		LOG_ERR("RX frame DLC %u exceeds maximum (%d)", frame->dlc, CAN_MAX_DLC);  in can_sja1000_read_frame()
295 		frame->flags |= CAN_FRAME_IDE;  in can_sja1000_read_frame()
305 		frame->id = id;  in can_sja1000_read_frame()
307 		if ((frame->flags & CAN_FRAME_RTR) == 0U) {  in can_sja1000_read_frame()
308 			for (i = 0; i < frame->dlc; i++) {  in can_sja1000_read_frame()
309 				frame->data[i] = can_sja1000_read_reg(dev, CAN_SJA1000_EFF_DATA +  in can_sja1000_read_frame()
318 		frame->id = id;  in can_sja1000_read_frame()
320 		if ((frame->flags & CAN_FRAME_RTR) == 0U) {  in can_sja1000_read_frame()
321 			for (i = 0; i < frame->dlc; i++) {  in can_sja1000_read_frame()
322 				frame->data[i] = can_sja1000_read_reg(dev, CAN_SJA1000_SFF_DATA +  in can_sja1000_read_frame()
335 	info = CAN_SJA1000_FRAME_INFO_DLC_PREP(frame->dlc);  in can_sja1000_write_frame()
337 	if ((frame->flags & CAN_FRAME_RTR) != 0) {  in can_sja1000_write_frame()
341 	if ((frame->flags & CAN_FRAME_IDE) != 0) {  in can_sja1000_write_frame()
347 	if ((frame->flags & CAN_FRAME_IDE) != 0) {  in can_sja1000_write_frame()
348 		id = frame->id;  in can_sja1000_write_frame()
358 		if ((frame->flags & CAN_FRAME_RTR) == 0U) {  in can_sja1000_write_frame()
359 			for (i = 0; i < frame->dlc; i++) {  in can_sja1000_write_frame()
361 						      frame->data[i]);  in can_sja1000_write_frame()
365 		id = frame->id;  in can_sja1000_write_frame()
371 		if ((frame->flags & CAN_FRAME_RTR) == 0U) {  in can_sja1000_write_frame()
372 			for (i = 0; i < frame->dlc; i++) {  in can_sja1000_write_frame()
374 						      frame->data[i]);  in can_sja1000_write_frame()
383 	struct can_sja1000_data *data = dev->data;  in can_sja1000_send()
384 	uint8_t cmr;  in can_sja1000_send()  local
387 	if (frame->dlc > CAN_MAX_DLC) {  in can_sja1000_send()
388 		LOG_ERR("TX frame DLC %u exceeds maximum (%d)", frame->dlc, CAN_MAX_DLC);  in can_sja1000_send()
389 		return -EINVAL;  in can_sja1000_send()
392 	if ((frame->flags & ~(CAN_FRAME_IDE | CAN_FRAME_RTR)) != 0) {  in can_sja1000_send()
393 		LOG_ERR("unsupported CAN frame flags 0x%02x", frame->flags);  in can_sja1000_send()
394 		return -ENOTSUP;  in can_sja1000_send()
397 	if (!data->common.started) {  in can_sja1000_send()
398 		return -ENETDOWN;  in can_sja1000_send()
401 	if (data->state == CAN_STATE_BUS_OFF) {  in can_sja1000_send()
402 		LOG_DBG("transmit failed, bus-off");  in can_sja1000_send()
403 		return -ENETUNREACH;  in can_sja1000_send()
406 	if (k_sem_take(&data->tx_idle, timeout) != 0) {  in can_sja1000_send()
407 		return -EAGAIN;  in can_sja1000_send()
413 		return -EIO;  in can_sja1000_send()
416 	data->tx_callback = callback;  in can_sja1000_send()
417 	data->tx_user_data = user_data;  in can_sja1000_send()
421 	if ((data->common.mode & CAN_MODE_LOOPBACK) != 0) {  in can_sja1000_send()
422 		cmr = CAN_SJA1000_CMR_SRR;  in can_sja1000_send()
424 		cmr = CAN_SJA1000_CMR_TR;  in can_sja1000_send()
427 	if ((data->common.mode & CAN_MODE_ONE_SHOT) != 0) {  in can_sja1000_send()
428 		cmr |= CAN_SJA1000_CMR_AT;  in can_sja1000_send()
431 	can_sja1000_write_reg(dev, CAN_SJA1000_CMR, cmr);  in can_sja1000_send()
439 	struct can_sja1000_data *data = dev->data;  in can_sja1000_add_rx_filter()
440 	int filter_id = -ENOSPC;  in can_sja1000_add_rx_filter()
443 	if ((filter->flags & ~(CAN_FILTER_IDE)) != 0) {  in can_sja1000_add_rx_filter()
444 		LOG_ERR("unsupported CAN filter flags 0x%02x", filter->flags);  in can_sja1000_add_rx_filter()
445 		return -ENOTSUP;  in can_sja1000_add_rx_filter()
448 	for (i = 0; i < ARRAY_SIZE(data->filters); i++) {  in can_sja1000_add_rx_filter()
449 		if (!atomic_test_and_set_bit(data->rx_allocs, i)) {  in can_sja1000_add_rx_filter()
456 		data->filters[filter_id].filter = *filter;  in can_sja1000_add_rx_filter()
457 		data->filters[filter_id].user_data = user_data;  in can_sja1000_add_rx_filter()
458 		data->filters[filter_id].callback = callback;  in can_sja1000_add_rx_filter()
466 	struct can_sja1000_data *data = dev->data;  in can_sja1000_remove_rx_filter()
468 	if (filter_id < 0 || filter_id >= ARRAY_SIZE(data->filters)) {  in can_sja1000_remove_rx_filter()
473 	if (atomic_test_and_clear_bit(data->rx_allocs, filter_id)) {  in can_sja1000_remove_rx_filter()
474 		data->filters[filter_id].callback = NULL;  in can_sja1000_remove_rx_filter()
475 		data->filters[filter_id].user_data = NULL;  in can_sja1000_remove_rx_filter()
476 		data->filters[filter_id].filter = (struct can_filter){0};  in can_sja1000_remove_rx_filter()
483 	struct can_sja1000_data *data = dev->data;  in can_sja1000_recover()
488 	if (!data->common.started) {  in can_sja1000_recover()
489 		return -ENETDOWN;  in can_sja1000_recover()
492 	if ((data->common.mode & CAN_MODE_MANUAL_RECOVERY) == 0U) {  in can_sja1000_recover()
493 		return -ENOTSUP;  in can_sja1000_recover()
503 	err = k_mutex_lock(&data->mod_lock, timeout);  in can_sja1000_recover()
512 		k_mutex_unlock(&data->mod_lock);  in can_sja1000_recover()
516 	k_mutex_unlock(&data->mod_lock);  in can_sja1000_recover()
519 		if (k_uptime_ticks() - start_ticks > timeout.ticks) {  in can_sja1000_recover()
521 			return -EAGAIN;  in can_sja1000_recover()
534 	struct can_sja1000_data *data = dev->data;  in can_sja1000_get_state()
537 		if (!data->common.started) {  in can_sja1000_get_state()
540 			*state = data->state;  in can_sja1000_get_state()
545 		err_cnt->rx_err_cnt = can_sja1000_read_reg(dev, CAN_SJA1000_RXERR);  in can_sja1000_get_state()
546 		err_cnt->tx_err_cnt = can_sja1000_read_reg(dev, CAN_SJA1000_TXERR);  in can_sja1000_get_state()
555 	struct can_sja1000_data *data = dev->data;  in can_sja1000_set_state_change_callback()
557 	data->common.state_change_cb = callback;  in can_sja1000_set_state_change_callback()
558 	data->common.state_change_cb_user_data = user_data;  in can_sja1000_set_state_change_callback()
571 	struct can_sja1000_data *data = dev->data;  in can_sja1000_handle_receive_irq()
583 			for (i = 0; i < ARRAY_SIZE(data->filters); i++) {  in can_sja1000_handle_receive_irq()
584 				if (!atomic_test_bit(data->rx_allocs, i)) {  in can_sja1000_handle_receive_irq()
588 				if (can_frame_matches_filter(&frame, &data->filters[i].filter)) {  in can_sja1000_handle_receive_irq()
589 					callback = data->filters[i].callback;  in can_sja1000_handle_receive_irq()
591 						callback(dev, &frame, data->filters[i].user_data);  in can_sja1000_handle_receive_irq()
611 		status = -EIO;  in can_sja1000_handle_transmit_irq()
632 	/* Read the Error Code Capture register to re-activate it */  in can_sja1000_handle_bus_error_irq()
672 	struct can_sja1000_data *data = dev->data;  in can_sja1000_handle_error_warning_irq()
677 		data->state = CAN_STATE_BUS_OFF;  in can_sja1000_handle_error_warning_irq()
678 		can_sja1000_tx_done(dev, -ENETUNREACH);  in can_sja1000_handle_error_warning_irq()
680 		if (data->common.started &&  in can_sja1000_handle_error_warning_irq()
681 			(data->common.mode & CAN_MODE_MANUAL_RECOVERY) == 0U) {  in can_sja1000_handle_error_warning_irq()
685 		data->state = CAN_STATE_ERROR_WARNING;  in can_sja1000_handle_error_warning_irq()
687 		data->state = CAN_STATE_ERROR_ACTIVE;  in can_sja1000_handle_error_warning_irq()
693 	struct can_sja1000_data *data = dev->data;  in can_sja1000_handle_error_passive_irq()
695 	if (data->state == CAN_STATE_ERROR_PASSIVE) {  in can_sja1000_handle_error_passive_irq()
696 		data->state = CAN_STATE_ERROR_WARNING;  in can_sja1000_handle_error_passive_irq()
698 		data->state = CAN_STATE_ERROR_PASSIVE;  in can_sja1000_handle_error_passive_irq()
704 	struct can_sja1000_data *data = dev->data;  in can_sja1000_isr()
705 	const can_state_change_callback_t cb = data->common.state_change_cb;  in can_sja1000_isr()
706 	void *cb_data = data->common.state_change_cb_user_data;  in can_sja1000_isr()
707 	enum can_state prev_state = data->state;  in can_sja1000_isr()
739 	if (prev_state != data->state && cb != NULL) {  in can_sja1000_isr()
742 		cb(dev, data->state, err_cnt, cb_data);  in can_sja1000_isr()
748 	const struct can_sja1000_config *config = dev->config;  in can_sja1000_init()
749 	struct can_sja1000_data *data = dev->data;  in can_sja1000_init()
753 	__ASSERT_NO_MSG(config->read_reg != NULL);  in can_sja1000_init()
754 	__ASSERT_NO_MSG(config->write_reg != NULL);  in can_sja1000_init()
756 	if (config->common.phy != NULL) {  in can_sja1000_init()
757 		if (!device_is_ready(config->common.phy)) {  in can_sja1000_init()
759 			return -ENODEV;  in can_sja1000_init()
763 	k_mutex_init(&data->mod_lock);  in can_sja1000_init()
764 	k_sem_init(&data->tx_idle, 1, 1);  in can_sja1000_init()
766 	data->state = CAN_STATE_ERROR_ACTIVE;  in can_sja1000_init()
777 	can_sja1000_write_reg(dev, CAN_SJA1000_CDR, config->cdr | CAN_SJA1000_CDR_CAN_MODE);  in can_sja1000_init()
790 	err = can_calc_timing(dev, &timing, config->common.bitrate,  in can_sja1000_init()
791 			      config->common.sample_point);  in can_sja1000_init()
792 	if (err == -EINVAL) {  in can_sja1000_init()
807 	can_sja1000_write_reg(dev, CAN_SJA1000_OCR, config->ocr);  in can_sja1000_init()
816 	data->common.mode = CAN_MODE_NORMAL;  in can_sja1000_init()