/* * Copyright (c) 2022 Henrik Brix Andersen * * SPDX-License-Identifier: Apache-2.0 */ /** * @file * @brief API for NXP SJA1000 (and compatible) CAN controller frontend drivers. */ #ifndef ZEPHYR_INCLUDE_DRIVERS_CAN_CAN_SJA1000_H_ #define ZEPHYR_INCLUDE_DRIVERS_CAN_CAN_SJA1000_H_ #include /** * @name SJA1000 Output Control Register (OCR) bits * * @{ */ #define CAN_SJA1000_OCR_OCMODE_MASK GENMASK(1, 0) #define CAN_SJA1000_OCR_OCPOL0 BIT(2) #define CAN_SJA1000_OCR_OCTN0 BIT(3) #define CAN_SJA1000_OCR_OCTP0 BIT(4) #define CAN_SJA1000_OCR_OCPOL1 BIT(5) #define CAN_SJA1000_OCR_OCTN1 BIT(6) #define CAN_SJA1000_OCR_OCTP1 BIT(7) #define CAN_SJA1000_OCR_OCMODE_BIPHASE FIELD_PREP(CAN_SJA1000_OCR_OCMODE_MASK, 0U) #define CAN_SJA1000_OCR_OCMODE_TEST FIELD_PREP(CAN_SJA1000_OCR_OCMODE_MASK, 1U) #define CAN_SJA1000_OCR_OCMODE_NORMAL FIELD_PREP(CAN_SJA1000_OCR_OCMODE_MASK, 2U) #define CAN_SJA1000_OCR_OCMODE_CLOCK FIELD_PREP(CAN_SJA1000_OCR_OCMODE_MASK, 3U) /** @} */ /** * @name SJA1000 Clock Divider Register (CDR) bits * * @{ */ #define CAN_SJA1000_CDR_CD_MASK GENMASK(2, 0) #define CAN_SJA1000_CDR_CLOCK_OFF BIT(3) #define CAN_SJA1000_CDR_RXINTEN BIT(5) #define CAN_SJA1000_CDR_CBP BIT(6) #define CAN_SJA1000_CDR_CAN_MODE BIT(7) #define CAN_SJA1000_CDR_CD_DIV1 FIELD_PREP(CAN_SJA1000_CDR_CD_MASK, 7U) #define CAN_SJA1000_CDR_CD_DIV2 FIELD_PREP(CAN_SJA1000_CDR_CD_MASK, 0U) #define CAN_SJA1000_CDR_CD_DIV4 FIELD_PREP(CAN_SJA1000_CDR_CD_MASK, 1U) #define CAN_SJA1000_CDR_CD_DIV6 FIELD_PREP(CAN_SJA1000_CDR_CD_MASK, 2U) #define CAN_SJA1000_CDR_CD_DIV8 FIELD_PREP(CAN_SJA1000_CDR_CD_MASK, 3U) #define CAN_SJA1000_CDR_CD_DIV10 FIELD_PREP(CAN_SJA1000_CDR_CD_MASK, 4U) #define CAN_SJA1000_CDR_CD_DIV12 FIELD_PREP(CAN_SJA1000_CDR_CD_MASK, 5U) #define CAN_SJA1000_CDR_CD_DIV14 FIELD_PREP(CAN_SJA1000_CDR_CD_MASK, 6U) /** @} */ /** * @brief SJA1000 specific static initializer for a minimum @p can_timing struct */ #define CAN_SJA1000_TIMING_MIN_INITIALIZER \ { \ .sjw = 1, \ .prop_seg = 0, \ .phase_seg1 = 1, \ .phase_seg2 = 1, \ .prescaler = 1 \ } /** * @brief SJA1000 specific static initializer for a maximum @p can_timing struct */ #define CAN_SJA1000_TIMING_MAX_INITIALIZER \ { \ .sjw = 4, \ .prop_seg = 0, \ .phase_seg1 = 16, \ .phase_seg2 = 8, \ .prescaler = 64 \ } /** * @brief SJA1000 driver front-end callback for writing a register value * * @param dev Pointer to the device structure for the driver instance. * @param reg Register offset * @param val Register value */ typedef void (*can_sja1000_write_reg_t)(const struct device *dev, uint8_t reg, uint8_t val); /** * @brief SJA1000 driver front-end callback for reading a register value * * @param dev Pointer to the device structure for the driver instance. * @param reg Register offset * @retval Register value */ typedef uint8_t (*can_sja1000_read_reg_t)(const struct device *dev, uint8_t reg); /** * @brief SJA1000 driver internal configuration structure. */ struct can_sja1000_config { const struct can_driver_config common; can_sja1000_read_reg_t read_reg; can_sja1000_write_reg_t write_reg; uint8_t ocr; uint8_t cdr; const void *custom; }; /** * @brief Static initializer for @p can_sja1000_config struct * * @param node_id Devicetree node identifier * @param _custom Pointer to custom driver frontend configuration structure * @param _read_reg Driver frontend SJA100 register read function * @param _write_reg Driver frontend SJA100 register write function * @param _ocr Initial SJA1000 Output Control Register (OCR) value * @param _cdr Initial SJA1000 Clock Divider Register (CDR) value * @param _min_bitrate minimum bitrate supported by the CAN controller */ #define CAN_SJA1000_DT_CONFIG_GET(node_id, _custom, _read_reg, _write_reg, _ocr, _cdr, \ _min_bitrate) \ { \ .common = CAN_DT_DRIVER_CONFIG_GET(node_id, _min_bitrate, 1000000), \ .read_reg = _read_reg, \ .write_reg = _write_reg, \ .ocr = _ocr, \ .cdr = _cdr, \ .custom = _custom, \ } /** * @brief Static initializer for @p can_sja1000_config struct from a DT_DRV_COMPAT instance * * @param inst DT_DRV_COMPAT instance number * @param _custom Pointer to custom driver frontend configuration structure * @param _read_reg Driver frontend SJA100 register read function * @param _write_reg Driver frontend SJA100 register write function * @param _ocr Initial SJA1000 Output Control Register (OCR) value * @param _cdr Initial SJA1000 Clock Divider Register (CDR) value * @param _min_bitrate minimum bitrate supported by the CAN controller * @see CAN_SJA1000_DT_CONFIG_GET() */ #define CAN_SJA1000_DT_CONFIG_INST_GET(inst, _custom, _read_reg, _write_reg, _ocr, _cdr, \ _min_bitrate) \ CAN_SJA1000_DT_CONFIG_GET(DT_DRV_INST(inst), _custom, _read_reg, _write_reg, _ocr, _cdr, \ _min_bitrate) /** * @brief SJA1000 driver internal RX filter structure. */ struct can_sja1000_rx_filter { struct can_filter filter; can_rx_callback_t callback; void *user_data; }; /** * @brief SJA1000 driver internal data structure. */ struct can_sja1000_data { struct can_driver_data common; ATOMIC_DEFINE(rx_allocs, CONFIG_CAN_MAX_FILTER); struct can_sja1000_rx_filter filters[CONFIG_CAN_MAX_FILTER]; struct k_mutex mod_lock; enum can_state state; struct k_sem tx_idle; can_tx_callback_t tx_callback; void *tx_user_data; void *custom; }; /** * @brief Initializer for a @a can_sja1000_data struct * @param _custom Pointer to custom driver frontend data structure */ #define CAN_SJA1000_DATA_INITIALIZER(_custom) \ { \ .custom = _custom, \ } /** * @brief SJA1000 callback API upon setting CAN bus timing * See @a can_set_timing() for argument description */ int can_sja1000_set_timing(const struct device *dev, const struct can_timing *timing); /** * @brief SJA1000 callback API upon getting CAN controller capabilities * See @a can_get_capabilities() for argument description */ int can_sja1000_get_capabilities(const struct device *dev, can_mode_t *cap); /** * @brief SJA1000 callback API upon starting CAN controller * See @a can_start() for argument description */ int can_sja1000_start(const struct device *dev); /** * @brief SJA1000 callback API upon stopping CAN controller * See @a can_stop() for argument description */ int can_sja1000_stop(const struct device *dev); /** * @brief SJA1000 callback API upon setting CAN controller mode * See @a can_set_mode() for argument description */ int can_sja1000_set_mode(const struct device *dev, can_mode_t mode); /** * @brief SJA1000 callback API upon sending a CAN frame * See @a can_send() for argument description */ int can_sja1000_send(const struct device *dev, const struct can_frame *frame, k_timeout_t timeout, can_tx_callback_t callback, void *user_data); /** * @brief SJA1000 callback API upon adding an RX filter * See @a can_add_rx_callback() for argument description */ int can_sja1000_add_rx_filter(const struct device *dev, can_rx_callback_t callback, void *user_data, const struct can_filter *filter); /** * @brief SJA1000 callback API upon removing an RX filter * See @a can_remove_rx_filter() for argument description */ void can_sja1000_remove_rx_filter(const struct device *dev, int filter_id); #ifdef CONFIG_CAN_MANUAL_RECOVERY_MODE /** * @brief SJA1000 callback API upon recovering the CAN bus * See @a can_recover() for argument description */ int can_sja1000_recover(const struct device *dev, k_timeout_t timeout); #endif /* CONFIG_CAN_MANUAL_RECOVERY_MODE */ /** * @brief SJA1000 callback API upon getting the CAN controller state * See @a can_get_state() for argument description */ int can_sja1000_get_state(const struct device *dev, enum can_state *state, struct can_bus_err_cnt *err_cnt); /** * @brief SJA1000 callback API upon setting a state change callback * See @a can_set_state_change_callback() for argument description */ void can_sja1000_set_state_change_callback(const struct device *dev, can_state_change_callback_t callback, void *user_data); /** * @brief SJA1000 callback API upon getting the maximum number of concurrent CAN RX filters * See @a can_get_max_filters() for argument description */ int can_sja1000_get_max_filters(const struct device *dev, bool ide); /** * @brief SJA1000 IRQ handler callback. * * @param dev Pointer to the device structure for the driver instance. */ void can_sja1000_isr(const struct device *dev); /** * @brief SJA1000 driver initialization callback. * * @param dev Pointer to the device structure for the driver instance. */ int can_sja1000_init(const struct device *dev); #endif /* ZEPHYR_INCLUDE_DRIVERS_CAN_CAN_SJA1000_H_ */