/* * Copyright (c) 2023 Nuvoton Technology Corporation. * * SPDX-License-Identifier: Apache-2.0 */ #define DT_DRV_COMPAT nuvoton_numaker_canfd #include #include #include #include #include #include #include #include #include LOG_MODULE_REGISTER(can_numaker, CONFIG_CAN_LOG_LEVEL); /* CANFD Clock Source Selection */ #define NUMAKER_CANFD_CLKSEL_HXT 0 #define NUMAKER_CANFD_CLKSEL_PLL_DIV2 1 #define NUMAKER_CANFD_CLKSEL_HCLK 2 #define NUMAKER_CANFD_CLKSEL_HIRC 3 /* Implementation notes * 1. Use Bosch M_CAN driver (m_can) as backend * 2. Need to modify can_numaker_get_core_clock() for new SOC support */ struct can_numaker_config { mm_reg_t canfd_base; mem_addr_t mrba; mem_addr_t mram; const struct reset_dt_spec reset; uint32_t clk_modidx; uint32_t clk_src; uint32_t clk_div; const struct device *clk_dev; void (*irq_config_func)(const struct device *dev); const struct pinctrl_dev_config *pincfg; }; static int can_numaker_get_core_clock(const struct device *dev, uint32_t *rate) { const struct can_mcan_config *mcan_config = dev->config; const struct can_numaker_config *config = mcan_config->custom; uint32_t clksrc_rate_idx; uint32_t clkdiv_divider; /* Module clock source rate */ clksrc_rate_idx = CLK_GetModuleClockSource(config->clk_modidx); /* Module clock divider */ clkdiv_divider = CLK_GetModuleClockDivider(config->clk_modidx) + 1; switch (clksrc_rate_idx) { case NUMAKER_CANFD_CLKSEL_HXT: *rate = __HXT / clkdiv_divider; break; case NUMAKER_CANFD_CLKSEL_PLL_DIV2: *rate = (CLK_GetPLLClockFreq() / 2) / clkdiv_divider; break; case NUMAKER_CANFD_CLKSEL_HCLK: *rate = CLK_GetHCLKFreq() / clkdiv_divider; break; case NUMAKER_CANFD_CLKSEL_HIRC: *rate = __HIRC / clkdiv_divider; break; default: LOG_ERR("Invalid clock source rate index"); return -EIO; } LOG_DBG("Clock rate index/divider: %d/%d", clksrc_rate_idx, clkdiv_divider); return 0; } static inline int can_numaker_init_unlocked(const struct device *dev) { const struct can_mcan_config *mcan_config = dev->config; const struct can_numaker_config *config = mcan_config->custom; struct numaker_scc_subsys scc_subsys; int rc; memset(&scc_subsys, 0x00, sizeof(scc_subsys)); scc_subsys.subsys_id = NUMAKER_SCC_SUBSYS_ID_PCC; scc_subsys.pcc.clk_modidx = config->clk_modidx; scc_subsys.pcc.clk_src = config->clk_src; scc_subsys.pcc.clk_div = config->clk_div; /* To enable clock */ rc = clock_control_on(config->clk_dev, (clock_control_subsys_t) &scc_subsys); if (rc < 0) { return rc; } /* To set module clock */ rc = clock_control_configure(config->clk_dev, (clock_control_subsys_t)&scc_subsys, NULL); if (rc < 0) { return rc; } /* Configure pinmux (NuMaker's SYS MFP) */ rc = pinctrl_apply_state(config->pincfg, PINCTRL_STATE_DEFAULT); if (rc < 0) { return rc; } /* Reset CAN to default state, same as BSP's SYS_ResetModule(id_rst) */ reset_line_toggle_dt(&config->reset); config->irq_config_func(dev); rc = can_mcan_configure_mram(dev, config->mrba, config->mram); if (rc != 0) { return rc; } rc = can_mcan_init(dev); if (rc < 0) { LOG_ERR("Failed to initialize mcan: %d", rc); return rc; } #if CONFIG_CAN_LOG_LEVEL >= LOG_LEVEL_DBG uint32_t rate; rc = can_numaker_get_core_clock(dev, &rate); if (rc < 0) { return rc; } LOG_DBG("CAN core clock: %d", rate); #endif return rc; } static int can_numaker_init(const struct device *dev) { const struct can_mcan_config *mcan_config = dev->config; const struct can_numaker_config *config = mcan_config->custom; int rc; if (!device_is_ready(config->reset.dev)) { LOG_ERR("reset controller not ready"); return -ENODEV; } if (!device_is_ready(config->clk_dev)) { LOG_ERR("clock controller not ready"); return -ENODEV; } SYS_UnlockReg(); rc = can_numaker_init_unlocked(dev); SYS_LockReg(); return rc; } static DEVICE_API(can, can_numaker_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, #ifdef CONFIG_CAN_MANUAL_RECOVERY_MODE .recover = can_mcan_recover, #endif /* CONFIG_CAN_MANUAL_RECOVERY_MODE */ .get_state = can_mcan_get_state, .set_state_change_callback = can_mcan_set_state_change_callback, .get_core_clock = can_numaker_get_core_clock, .get_max_filters = can_mcan_get_max_filters, .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 int can_numaker_read_reg(const struct device *dev, uint16_t reg, uint32_t *val) { const struct can_mcan_config *mcan_cfg = dev->config; const struct can_numaker_config *numaker_cfg = mcan_cfg->custom; return can_mcan_sys_read_reg(numaker_cfg->canfd_base, reg, val); } static int can_numaker_write_reg(const struct device *dev, uint16_t reg, uint32_t val) { const struct can_mcan_config *mcan_cfg = dev->config; const struct can_numaker_config *numaker_cfg = mcan_cfg->custom; return can_mcan_sys_write_reg(numaker_cfg->canfd_base, reg, val); } static int can_numaker_read_mram(const struct device *dev, uint16_t offset, void *dst, size_t len) { const struct can_mcan_config *mcan_cfg = dev->config; const struct can_numaker_config *numaker_cfg = mcan_cfg->custom; return can_mcan_sys_read_mram(numaker_cfg->mram, offset, dst, len); } static int can_numaker_write_mram(const struct device *dev, uint16_t offset, const void *src, size_t len) { const struct can_mcan_config *mcan_cfg = dev->config; const struct can_numaker_config *numaker_cfg = mcan_cfg->custom; return can_mcan_sys_write_mram(numaker_cfg->mram, offset, src, len); } static int can_numaker_clear_mram(const struct device *dev, uint16_t offset, size_t len) { const struct can_mcan_config *mcan_cfg = dev->config; const struct can_numaker_config *numaker_cfg = mcan_cfg->custom; return can_mcan_sys_clear_mram(numaker_cfg->mram, offset, len); } static const struct can_mcan_ops can_numaker_ops = { .read_reg = can_numaker_read_reg, .write_reg = can_numaker_write_reg, .read_mram = can_numaker_read_mram, .write_mram = can_numaker_write_mram, .clear_mram = can_numaker_clear_mram, }; #define NUMAKER_CLKCTRL_DEV_INIT(inst) \ .clk_dev = DEVICE_DT_GET(DT_PARENT(DT_INST_CLOCKS_CTLR(inst))), #define NUMAKER_PINCTRL_DEFINE(inst) \ PINCTRL_DT_INST_DEFINE(inst); #define NUMAKER_PINCTRL_INIT(inst) \ .pincfg = PINCTRL_DT_INST_DEV_CONFIG_GET(inst), #define CAN_NUMAKER_INIT(inst) \ NUMAKER_PINCTRL_DEFINE(inst); \ CAN_MCAN_DT_INST_CALLBACKS_DEFINE(inst, can_numaker_cbs_##inst); \ \ static void can_numaker_irq_config_func_##inst(const struct device *dev) \ { \ 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)); \ } \ \ static const struct can_numaker_config can_numaker_config_##inst = { \ .canfd_base = CAN_MCAN_DT_INST_MCAN_ADDR(inst), \ .mrba = CAN_MCAN_DT_INST_MRBA(inst), \ .mram = CAN_MCAN_DT_INST_MRAM_ADDR(inst), \ .reset = RESET_DT_SPEC_INST_GET(inst), \ .clk_modidx = DT_INST_CLOCKS_CELL(inst, clock_module_index), \ .clk_src = DT_INST_CLOCKS_CELL(inst, clock_source), \ .clk_div = DT_INST_CLOCKS_CELL(inst, clock_divider), \ NUMAKER_CLKCTRL_DEV_INIT(inst) \ .irq_config_func = can_numaker_irq_config_func_##inst, \ NUMAKER_PINCTRL_INIT(inst) \ }; \ \ static const struct can_mcan_config can_mcan_config_##inst = \ CAN_MCAN_DT_CONFIG_INST_GET(inst, \ &can_numaker_config_##inst, \ &can_numaker_ops, \ &can_numaker_cbs_##inst); \ \ static uint32_t can_numaker_data_##inst; \ \ static struct can_mcan_data can_mcan_data_##inst = \ CAN_MCAN_DATA_INITIALIZER(&can_numaker_data_ ## inst); \ \ CAN_DEVICE_DT_INST_DEFINE(inst, \ can_numaker_init, \ NULL, \ &can_mcan_data_##inst, \ &can_mcan_config_##inst, \ POST_KERNEL, \ CONFIG_CAN_INIT_PRIORITY, \ &can_numaker_driver_api); \ DT_INST_FOREACH_STATUS_OKAY(CAN_NUMAKER_INIT);