1 /* 2 * Copyright (c) 2022 Henrik Brix Andersen <henrik@brixandersen.dk> 3 * 4 * SPDX-License-Identifier: Apache-2.0 5 */ 6 7 /** 8 * @file 9 * @brief API for NXP SJA1000 (and compatible) CAN controller frontend drivers. 10 */ 11 12 #ifndef ZEPHYR_INCLUDE_DRIVERS_CAN_CAN_SJA1000_H_ 13 #define ZEPHYR_INCLUDE_DRIVERS_CAN_CAN_SJA1000_H_ 14 15 #include <zephyr/drivers/can.h> 16 17 /** 18 * @name SJA1000 Output Control Register (OCR) bits 19 * 20 * @{ 21 */ 22 #define CAN_SJA1000_OCR_OCMODE_MASK GENMASK(1, 0) 23 #define CAN_SJA1000_OCR_OCPOL0 BIT(2) 24 #define CAN_SJA1000_OCR_OCTN0 BIT(3) 25 #define CAN_SJA1000_OCR_OCTP0 BIT(4) 26 #define CAN_SJA1000_OCR_OCPOL1 BIT(5) 27 #define CAN_SJA1000_OCR_OCTN1 BIT(6) 28 #define CAN_SJA1000_OCR_OCTP1 BIT(7) 29 30 #define CAN_SJA1000_OCR_OCMODE_BIPHASE FIELD_PREP(CAN_SJA1000_OCR_OCMODE_MASK, 0U) 31 #define CAN_SJA1000_OCR_OCMODE_TEST FIELD_PREP(CAN_SJA1000_OCR_OCMODE_MASK, 1U) 32 #define CAN_SJA1000_OCR_OCMODE_NORMAL FIELD_PREP(CAN_SJA1000_OCR_OCMODE_MASK, 2U) 33 #define CAN_SJA1000_OCR_OCMODE_CLOCK FIELD_PREP(CAN_SJA1000_OCR_OCMODE_MASK, 3U) 34 35 /** @} */ 36 37 /** 38 * @name SJA1000 Clock Divider Register (CDR) bits 39 * 40 * @{ 41 */ 42 #define CAN_SJA1000_CDR_CD_MASK GENMASK(2, 0) 43 #define CAN_SJA1000_CDR_CLOCK_OFF BIT(3) 44 #define CAN_SJA1000_CDR_RXINTEN BIT(5) 45 #define CAN_SJA1000_CDR_CBP BIT(6) 46 #define CAN_SJA1000_CDR_CAN_MODE BIT(7) 47 48 #define CAN_SJA1000_CDR_CD_DIV1 FIELD_PREP(CAN_SJA1000_CDR_CD_MASK, 7U) 49 #define CAN_SJA1000_CDR_CD_DIV2 FIELD_PREP(CAN_SJA1000_CDR_CD_MASK, 0U) 50 #define CAN_SJA1000_CDR_CD_DIV4 FIELD_PREP(CAN_SJA1000_CDR_CD_MASK, 1U) 51 #define CAN_SJA1000_CDR_CD_DIV6 FIELD_PREP(CAN_SJA1000_CDR_CD_MASK, 2U) 52 #define CAN_SJA1000_CDR_CD_DIV8 FIELD_PREP(CAN_SJA1000_CDR_CD_MASK, 3U) 53 #define CAN_SJA1000_CDR_CD_DIV10 FIELD_PREP(CAN_SJA1000_CDR_CD_MASK, 4U) 54 #define CAN_SJA1000_CDR_CD_DIV12 FIELD_PREP(CAN_SJA1000_CDR_CD_MASK, 5U) 55 #define CAN_SJA1000_CDR_CD_DIV14 FIELD_PREP(CAN_SJA1000_CDR_CD_MASK, 6U) 56 57 /** @} */ 58 59 /** 60 * @brief SJA1000 specific static initializer for a minimum @p can_timing struct 61 */ 62 #define CAN_SJA1000_TIMING_MIN_INITIALIZER \ 63 { \ 64 .sjw = 1, \ 65 .prop_seg = 0, \ 66 .phase_seg1 = 1, \ 67 .phase_seg2 = 1, \ 68 .prescaler = 1 \ 69 } 70 71 /** 72 * @brief SJA1000 specific static initializer for a maximum @p can_timing struct 73 */ 74 #define CAN_SJA1000_TIMING_MAX_INITIALIZER \ 75 { \ 76 .sjw = 4, \ 77 .prop_seg = 0, \ 78 .phase_seg1 = 16, \ 79 .phase_seg2 = 8, \ 80 .prescaler = 64 \ 81 } 82 83 /** 84 * @brief SJA1000 driver front-end callback for writing a register value 85 * 86 * @param dev Pointer to the device structure for the driver instance. 87 * @param reg Register offset 88 * @param val Register value 89 */ 90 typedef void (*can_sja1000_write_reg_t)(const struct device *dev, uint8_t reg, uint8_t val); 91 92 /** 93 * @brief SJA1000 driver front-end callback for reading a register value 94 * 95 * @param dev Pointer to the device structure for the driver instance. 96 * @param reg Register offset 97 * @retval Register value 98 */ 99 typedef uint8_t (*can_sja1000_read_reg_t)(const struct device *dev, uint8_t reg); 100 101 /** 102 * @brief SJA1000 driver internal configuration structure. 103 */ 104 struct can_sja1000_config { 105 const struct can_driver_config common; 106 can_sja1000_read_reg_t read_reg; 107 can_sja1000_write_reg_t write_reg; 108 uint8_t ocr; 109 uint8_t cdr; 110 const void *custom; 111 }; 112 113 /** 114 * @brief Static initializer for @p can_sja1000_config struct 115 * 116 * @param node_id Devicetree node identifier 117 * @param _custom Pointer to custom driver frontend configuration structure 118 * @param _read_reg Driver frontend SJA100 register read function 119 * @param _write_reg Driver frontend SJA100 register write function 120 * @param _ocr Initial SJA1000 Output Control Register (OCR) value 121 * @param _cdr Initial SJA1000 Clock Divider Register (CDR) value 122 * @param _min_bitrate minimum bitrate supported by the CAN controller 123 */ 124 #define CAN_SJA1000_DT_CONFIG_GET(node_id, _custom, _read_reg, _write_reg, _ocr, _cdr, \ 125 _min_bitrate) \ 126 { \ 127 .common = CAN_DT_DRIVER_CONFIG_GET(node_id, _min_bitrate, 1000000), \ 128 .read_reg = _read_reg, \ 129 .write_reg = _write_reg, \ 130 .ocr = _ocr, \ 131 .cdr = _cdr, \ 132 .custom = _custom, \ 133 } 134 135 /** 136 * @brief Static initializer for @p can_sja1000_config struct from a DT_DRV_COMPAT instance 137 * 138 * @param inst DT_DRV_COMPAT instance number 139 * @param _custom Pointer to custom driver frontend configuration structure 140 * @param _read_reg Driver frontend SJA100 register read function 141 * @param _write_reg Driver frontend SJA100 register write function 142 * @param _ocr Initial SJA1000 Output Control Register (OCR) value 143 * @param _cdr Initial SJA1000 Clock Divider Register (CDR) value 144 * @param _min_bitrate minimum bitrate supported by the CAN controller 145 * @see CAN_SJA1000_DT_CONFIG_GET() 146 */ 147 #define CAN_SJA1000_DT_CONFIG_INST_GET(inst, _custom, _read_reg, _write_reg, _ocr, _cdr, \ 148 _min_bitrate) \ 149 CAN_SJA1000_DT_CONFIG_GET(DT_DRV_INST(inst), _custom, _read_reg, _write_reg, _ocr, _cdr, \ 150 _min_bitrate) 151 152 /** 153 * @brief SJA1000 driver internal RX filter structure. 154 */ 155 struct can_sja1000_rx_filter { 156 struct can_filter filter; 157 can_rx_callback_t callback; 158 void *user_data; 159 }; 160 161 /** 162 * @brief SJA1000 driver internal data structure. 163 */ 164 struct can_sja1000_data { 165 struct can_driver_data common; 166 ATOMIC_DEFINE(rx_allocs, CONFIG_CAN_MAX_FILTER); 167 struct can_sja1000_rx_filter filters[CONFIG_CAN_MAX_FILTER]; 168 struct k_mutex mod_lock; 169 enum can_state state; 170 struct k_sem tx_idle; 171 can_tx_callback_t tx_callback; 172 void *tx_user_data; 173 void *custom; 174 }; 175 176 /** 177 * @brief Initializer for a @a can_sja1000_data struct 178 * @param _custom Pointer to custom driver frontend data structure 179 */ 180 #define CAN_SJA1000_DATA_INITIALIZER(_custom) \ 181 { \ 182 .custom = _custom, \ 183 } 184 185 /** 186 * @brief SJA1000 callback API upon setting CAN bus timing 187 * See @a can_set_timing() for argument description 188 */ 189 int can_sja1000_set_timing(const struct device *dev, const struct can_timing *timing); 190 191 /** 192 * @brief SJA1000 callback API upon getting CAN controller capabilities 193 * See @a can_get_capabilities() for argument description 194 */ 195 int can_sja1000_get_capabilities(const struct device *dev, can_mode_t *cap); 196 197 /** 198 * @brief SJA1000 callback API upon starting CAN controller 199 * See @a can_start() for argument description 200 */ 201 int can_sja1000_start(const struct device *dev); 202 203 /** 204 * @brief SJA1000 callback API upon stopping CAN controller 205 * See @a can_stop() for argument description 206 */ 207 int can_sja1000_stop(const struct device *dev); 208 209 /** 210 * @brief SJA1000 callback API upon setting CAN controller mode 211 * See @a can_set_mode() for argument description 212 */ 213 int can_sja1000_set_mode(const struct device *dev, can_mode_t mode); 214 215 /** 216 * @brief SJA1000 callback API upon sending a CAN frame 217 * See @a can_send() for argument description 218 */ 219 int can_sja1000_send(const struct device *dev, const struct can_frame *frame, k_timeout_t timeout, 220 can_tx_callback_t callback, void *user_data); 221 222 /** 223 * @brief SJA1000 callback API upon adding an RX filter 224 * See @a can_add_rx_callback() for argument description 225 */ 226 int can_sja1000_add_rx_filter(const struct device *dev, can_rx_callback_t callback, void *user_data, 227 const struct can_filter *filter); 228 229 /** 230 * @brief SJA1000 callback API upon removing an RX filter 231 * See @a can_remove_rx_filter() for argument description 232 */ 233 void can_sja1000_remove_rx_filter(const struct device *dev, int filter_id); 234 235 #ifdef CONFIG_CAN_MANUAL_RECOVERY_MODE 236 /** 237 * @brief SJA1000 callback API upon recovering the CAN bus 238 * See @a can_recover() for argument description 239 */ 240 int can_sja1000_recover(const struct device *dev, k_timeout_t timeout); 241 #endif /* CONFIG_CAN_MANUAL_RECOVERY_MODE */ 242 243 /** 244 * @brief SJA1000 callback API upon getting the CAN controller state 245 * See @a can_get_state() for argument description 246 */ 247 int can_sja1000_get_state(const struct device *dev, enum can_state *state, 248 struct can_bus_err_cnt *err_cnt); 249 250 /** 251 * @brief SJA1000 callback API upon setting a state change callback 252 * See @a can_set_state_change_callback() for argument description 253 */ 254 void can_sja1000_set_state_change_callback(const struct device *dev, 255 can_state_change_callback_t callback, void *user_data); 256 257 /** 258 * @brief SJA1000 callback API upon getting the maximum number of concurrent CAN RX filters 259 * See @a can_get_max_filters() for argument description 260 */ 261 int can_sja1000_get_max_filters(const struct device *dev, bool ide); 262 263 /** 264 * @brief SJA1000 IRQ handler callback. 265 * 266 * @param dev Pointer to the device structure for the driver instance. 267 */ 268 void can_sja1000_isr(const struct device *dev); 269 270 /** 271 * @brief SJA1000 driver initialization callback. 272 * 273 * @param dev Pointer to the device structure for the driver instance. 274 */ 275 int can_sja1000_init(const struct device *dev); 276 277 #endif /* ZEPHYR_INCLUDE_DRIVERS_CAN_CAN_SJA1000_H_ */ 278
