1 /******************************************************************************
2 *
3 * Copyright (C) 2022-2023 Maxim Integrated Products, Inc. (now owned by
4 * Analog Devices, Inc.),
5 * Copyright (C) 2023-2024 Analog Devices, Inc.
6 *
7 * Licensed under the Apache License, Version 2.0 (the "License");
8 * you may not use this file except in compliance with the License.
9 * You may obtain a copy of the License at
10 *
11 * http://www.apache.org/licenses/LICENSE-2.0
12 *
13 * Unless required by applicable law or agreed to in writing, software
14 * distributed under the License is distributed on an "AS IS" BASIS,
15 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
16 * See the License for the specific language governing permissions and
17 * limitations under the License.
18 *
19 ******************************************************************************/
20
21 #include "can.h"
22 #include "can_reva.h"
23
24 #define MXC_CAN_OBJCAPABILITIES_ERROR \
25 { \
26 -1, -1, -1, -1, -1, -1, -1, -1, -1 \
27 }
28
29 static int8_t last_stat_update = -1;
30
31 /**********************************************************************************************************************************************************************/
MXC_CAN_GetVersion(void)32 mxc_can_drv_version_t MXC_CAN_GetVersion(void)
33 {
34 return MXC_CAN_RevA_GetVersion();
35 }
36
37 /**********************************************************************************************************************************************************************/
MXC_CAN_GetCapabilities(void)38 mxc_can_capabilities_t MXC_CAN_GetCapabilities(void)
39 {
40 mxc_can_capabilities_t ret = MXC_CAN_RevA_GetCapabilities();
41 ret.fd_mode = 0;
42 return ret;
43 }
44
45 /**********************************************************************************************************************************************************************/
MXC_CAN_Init(uint32_t can_idx,mxc_can_obj_cfg_t cfg,mxc_can_unit_event_cb_t unit_cb,mxc_can_object_event_cb_t obj_cb)46 int MXC_CAN_Init(uint32_t can_idx, mxc_can_obj_cfg_t cfg, mxc_can_unit_event_cb_t unit_cb,
47 mxc_can_object_event_cb_t obj_cb)
48 {
49 mxc_can_regs_t *can = MXC_CAN_GET_CAN(can_idx);
50 if (can == 0) {
51 return E_BAD_PARAM;
52 }
53
54 MXC_CAN_RevA_Init((mxc_can_reva_regs_t *)can, unit_cb, obj_cb);
55
56 return MXC_CAN_ObjectConfigure(can_idx, cfg);
57 }
58
59 /**********************************************************************************************************************************************************************/
MXC_CAN_UnInit(uint32_t can_idx)60 int MXC_CAN_UnInit(uint32_t can_idx)
61 {
62 switch (can_idx) {
63 case 0:
64 MXC_SYS_Reset_Periph(MXC_SYS_RESET0_CAN0);
65 #ifndef MSDK_NO_GPIO_CLK_INIT
66 MXC_SYS_ClockDisable(MXC_SYS_PERIPH_CLOCK_CAN0);
67 #endif // MSDK_NO_GPIO_CLK_INIT
68 break;
69 case 1:
70 MXC_SYS_Reset_Periph(MXC_SYS_RESET0_CAN1);
71 #ifndef MSDK_NO_GPIO_CLK_INIT
72 MXC_SYS_ClockDisable(MXC_SYS_PERIPH_CLOCK_CAN1);
73 #endif // MSDK_NO_GPIO_CLK_INIT
74 break;
75 default:
76 return E_BAD_PARAM;
77 }
78
79 return MXC_CAN_RevA_UnInit((mxc_can_reva_regs_t *)MXC_CAN_GET_CAN(can_idx));
80 }
81
82 /**********************************************************************************************************************************************************************/
MXC_CAN_PowerControl(uint32_t can_idx,mxc_can_pwr_ctrl_t pwr)83 int MXC_CAN_PowerControl(uint32_t can_idx, mxc_can_pwr_ctrl_t pwr)
84 {
85 mxc_sys_periph_clock_t periph_clk;
86 if (can_idx == 0) {
87 periph_clk = MXC_SYS_PERIPH_CLOCK_CAN0;
88 } else if (can_idx == 1) {
89 periph_clk = MXC_SYS_PERIPH_CLOCK_CAN1;
90 } else {
91 return E_BAD_PARAM;
92 }
93
94 switch (pwr) {
95 case MXC_CAN_PWR_CTRL_OFF:
96 #ifndef MSDK_NO_GPIO_CLK_INIT
97 MXC_SYS_ClockDisable(periph_clk);
98 #endif // MSDK_NO_GPIO_CLK_INIT
99 return E_NO_ERROR;
100 case MXC_CAN_PWR_CTRL_SLEEP: //Fall through
101 case MXC_CAN_PWR_CTRL_FULL:
102 #ifndef MSDK_NO_GPIO_CLK_INIT
103 MXC_SYS_ClockEnable(periph_clk);
104 #endif // MSDK_NO_GPIO_CLK_INIT
105 break;
106 default:
107 return E_BAD_PARAM;
108 }
109
110 return MXC_CAN_RevA_PowerControl((mxc_can_reva_regs_t *)MXC_CAN_GET_CAN(can_idx), pwr);
111 }
112
113 /**********************************************************************************************************************************************************************/
MXC_CAN_EnableInt(uint32_t can_idx,uint8_t en,uint8_t ext_en)114 int MXC_CAN_EnableInt(uint32_t can_idx, uint8_t en, uint8_t ext_en)
115 {
116 mxc_can_regs_t *can = MXC_CAN_GET_CAN(can_idx);
117 if (can == 0) {
118 return E_BAD_PARAM;
119 }
120
121 return MXC_CAN_RevA_EnableInt((mxc_can_reva_regs_t *)can, en, ext_en);
122 }
123
124 /**********************************************************************************************************************************************************************/
MXC_CAN_DisableInt(uint32_t can_idx,uint8_t dis,uint8_t ext_dis)125 int MXC_CAN_DisableInt(uint32_t can_idx, uint8_t dis, uint8_t ext_dis)
126 {
127 mxc_can_regs_t *can = MXC_CAN_GET_CAN(can_idx);
128 if (can == 0) {
129 return E_BAD_PARAM;
130 }
131
132 return MXC_CAN_RevA_DisableInt((mxc_can_reva_regs_t *)can, dis, ext_dis);
133 }
134
135 /**********************************************************************************************************************************************************************/
MXC_CAN_GetFlags(uint32_t can_idx,uint8_t * flags,uint8_t * ext_flags)136 int MXC_CAN_GetFlags(uint32_t can_idx, uint8_t *flags, uint8_t *ext_flags)
137 {
138 mxc_can_regs_t *can = MXC_CAN_GET_CAN(can_idx);
139 if (can == 0) {
140 return E_BAD_PARAM;
141 }
142
143 return MXC_CAN_RevA_GetFlags((mxc_can_reva_regs_t *)can, flags, ext_flags);
144 }
145
146 /**********************************************************************************************************************************************************************/
MXC_CAN_ClearFlags(uint32_t can_idx,uint8_t flags,uint8_t ext_flags)147 int MXC_CAN_ClearFlags(uint32_t can_idx, uint8_t flags, uint8_t ext_flags)
148 {
149 mxc_can_regs_t *can = MXC_CAN_GET_CAN(can_idx);
150 if (can == 0) {
151 return E_BAD_PARAM;
152 }
153
154 return MXC_CAN_RevA_ClearFlags((mxc_can_reva_regs_t *)can, flags, ext_flags);
155 }
156
157 /**********************************************************************************************************************************************************************/
MXC_CAN_GetClock(uint32_t can_idx)158 int MXC_CAN_GetClock(uint32_t can_idx)
159 {
160 return PeripheralClock;
161 }
162
163 /**********************************************************************************************************************************************************************/
MXC_CAN_GetBitRate(uint32_t can_idx,mxc_can_bitrate_sel_t sel)164 int MXC_CAN_GetBitRate(uint32_t can_idx, mxc_can_bitrate_sel_t sel)
165 {
166 mxc_can_regs_t *can = MXC_CAN_GET_CAN(can_idx);
167 if (can == 0) {
168 return E_BAD_PARAM;
169 } else if (sel == MXC_CAN_BITRATE_SEL_FD_DATA) {
170 return E_NOT_SUPPORTED;
171 }
172
173 return MXC_CAN_RevA_GetBitRate((mxc_can_reva_regs_t *)can, sel, MXC_CAN_GetClock(can_idx));
174 }
175
176 /**********************************************************************************************************************************************************************/
MXC_CAN_SetBitRate(uint32_t can_idx,mxc_can_bitrate_sel_t sel,uint32_t bitrate,uint32_t bit_segments)177 int MXC_CAN_SetBitRate(uint32_t can_idx, mxc_can_bitrate_sel_t sel, uint32_t bitrate,
178 uint32_t bit_segments)
179 {
180 mxc_can_regs_t *can = MXC_CAN_GET_CAN(can_idx);
181 if (can == 0) {
182 return E_BAD_PARAM;
183 } else if (sel == MXC_CAN_BITRATE_SEL_FD_DATA) {
184 return E_NOT_SUPPORTED;
185 }
186
187 uint8_t seg1 = (bit_segments & (0xFF << MXC_CAN_SEG1_SHIFT)) >> MXC_CAN_SEG1_SHIFT;
188 uint8_t seg2 = (bit_segments & (0xFF << MXC_CAN_SEG2_SHIFT)) >> MXC_CAN_SEG2_SHIFT;
189 uint8_t sjw = (bit_segments & (0xFF << MXC_CAN_SJW_SHIFT)) >> MXC_CAN_SJW_SHIFT;
190
191 return MXC_CAN_RevA_SetBitRate((mxc_can_reva_regs_t *)can, MXC_CAN_GetClock(can_idx), sel,
192 bitrate, seg1, seg2, sjw);
193 }
194
195 /**********************************************************************************************************************************************************************/
MXC_CAN_SetMode(uint32_t can_idx,mxc_can_mode_t mode)196 int MXC_CAN_SetMode(uint32_t can_idx, mxc_can_mode_t mode)
197 {
198 mxc_can_regs_t *can = MXC_CAN_GET_CAN(can_idx);
199 if (can == 0) {
200 return E_BAD_PARAM;
201 }
202
203 return MXC_CAN_RevA_SetMode((mxc_can_reva_regs_t *)can, mode);
204 }
205
206 /**********************************************************************************************************************************************************************/
MXC_CAN_ObjectGetCapabilities(uint32_t can_idx)207 mxc_can_obj_capabilities_t MXC_CAN_ObjectGetCapabilities(uint32_t can_idx)
208 {
209 mxc_can_regs_t *can = MXC_CAN_GET_CAN(can_idx);
210 if (can == 0) {
211 return (mxc_can_obj_capabilities_t)MXC_CAN_OBJCAPABILITIES_ERROR;
212 }
213
214 return MXC_CAN_RevA_ObjectGetCapabilities((mxc_can_reva_regs_t *)can);
215 }
216
217 /**********************************************************************************************************************************************************************/
MXC_CAN_ObjectSetFilter(uint32_t can_idx,mxc_can_filt_cfg_t cfg,uint32_t id,uint32_t arg)218 int MXC_CAN_ObjectSetFilter(uint32_t can_idx, mxc_can_filt_cfg_t cfg, uint32_t id, uint32_t arg)
219 {
220 mxc_can_regs_t *can = MXC_CAN_GET_CAN(can_idx);
221 if (can == 0) {
222 return E_BAD_PARAM;
223 }
224
225 return MXC_CAN_RevA_ObjectSetFilter((mxc_can_reva_regs_t *)can, cfg, id, arg);
226 }
227
228 /**********************************************************************************************************************************************************************/
MXC_CAN_ObjectConfigure(uint32_t can_idx,mxc_can_obj_cfg_t cfg)229 int MXC_CAN_ObjectConfigure(uint32_t can_idx, mxc_can_obj_cfg_t cfg)
230 {
231 mxc_can_regs_t *can = MXC_CAN_GET_CAN(can_idx);
232 if (can == 0) {
233 return E_BAD_PARAM;
234 }
235
236 #ifndef MSDK_NO_GPIO_CLK_INIT
237 switch (can_idx) {
238 case 0:
239 MXC_GPIO_Config(&gpio_cfg_can0);
240 break;
241 case 1:
242 MXC_GPIO_Config(&gpio_cfg_can1);
243 break;
244 }
245 #endif // MSDK_NO_GPIO_CLK_INIT
246
247 return MXC_CAN_RevA_ObjectConfigure((mxc_can_reva_regs_t *)can, cfg);
248 }
249
250 /**********************************************************************************************************************************************************************/
MXC_CAN_WriteTXFIFO(uint32_t can_idx,mxc_can_msg_info_t * info,const uint8_t * data,uint8_t size)251 int MXC_CAN_WriteTXFIFO(uint32_t can_idx, mxc_can_msg_info_t *info, const uint8_t *data,
252 uint8_t size)
253 {
254 mxc_can_regs_t *can = MXC_CAN_GET_CAN(can_idx);
255 if (can == 0) {
256 return E_BAD_PARAM;
257 } else if (info->fdf != 0) {
258 return E_NOT_SUPPORTED;
259 }
260
261 return MXC_CAN_RevA_WriteTXFIFO((mxc_can_reva_regs_t *)can, info, data, size);
262 }
263
264 /**********************************************************************************************************************************************************************/
MXC_CAN_ReadRXFIFO(uint32_t can_idx,mxc_can_msg_info_t * info,uint8_t * data,uint8_t size)265 int MXC_CAN_ReadRXFIFO(uint32_t can_idx, mxc_can_msg_info_t *info, uint8_t *data, uint8_t size)
266 {
267 mxc_can_regs_t *can = MXC_CAN_GET_CAN(can_idx);
268 if (can == 0) {
269 return E_BAD_PARAM;
270 } else if (info->fdf != 0) {
271 return E_NOT_SUPPORTED;
272 }
273
274 return MXC_CAN_RevA_ReadRXFIFO((mxc_can_reva_regs_t *)can, info, data, size, false);
275 }
276
277 /**********************************************************************************************************************************************************************/
MXC_CAN_MessageSend(uint32_t can_idx,mxc_can_req_t * req)278 int MXC_CAN_MessageSend(uint32_t can_idx, mxc_can_req_t *req)
279 {
280 mxc_can_regs_t *can = MXC_CAN_GET_CAN(can_idx);
281 if (can == 0) {
282 return E_BAD_PARAM;
283 } else if (req->msg_info->fdf != 0) {
284 return E_NOT_SUPPORTED;
285 }
286
287 return MXC_CAN_RevA_MessageSend((mxc_can_reva_regs_t *)can, req);
288 }
289
290 /**********************************************************************************************************************************************************************/
MXC_CAN_MessageSendAsync(uint32_t can_idx,mxc_can_req_t * req)291 int MXC_CAN_MessageSendAsync(uint32_t can_idx, mxc_can_req_t *req)
292 {
293 mxc_can_regs_t *can = MXC_CAN_GET_CAN(can_idx);
294 if (can == 0) {
295 return E_BAD_PARAM;
296 } else if (req->msg_info->fdf != 0) {
297 return E_NOT_SUPPORTED;
298 }
299
300 return MXC_CAN_RevA_MessageSendAsync((mxc_can_reva_regs_t *)can, req);
301 }
302
303 /**********************************************************************************************************************************************************************/
MXC_CAN_MessageSendDMA(uint32_t can_idx,mxc_can_req_t * req)304 int MXC_CAN_MessageSendDMA(uint32_t can_idx, mxc_can_req_t *req)
305 {
306 mxc_can_regs_t *can = MXC_CAN_GET_CAN(can_idx);
307 if (can == 0) {
308 return E_BAD_PARAM;
309 } else if (req->msg_info->fdf != 0) {
310 return E_NOT_SUPPORTED;
311 }
312
313 return MXC_CAN_RevA_MessageSendDMA((mxc_can_reva_regs_t *)can, req);
314 }
315
316 /**********************************************************************************************************************************************************************/
MXC_CAN_MessageRead(uint32_t can_idx,mxc_can_req_t * req)317 int MXC_CAN_MessageRead(uint32_t can_idx, mxc_can_req_t *req)
318 {
319 mxc_can_regs_t *can = MXC_CAN_GET_CAN(can_idx);
320 if (can == 0) {
321 return E_BAD_PARAM;
322 }
323
324 return MXC_CAN_RevA_MessageRead((mxc_can_reva_regs_t *)can, req);
325 }
326
327 /**********************************************************************************************************************************************************************/
MXC_CAN_MessageReadAsync(uint32_t can_idx,mxc_can_req_t * req)328 int MXC_CAN_MessageReadAsync(uint32_t can_idx, mxc_can_req_t *req)
329 {
330 mxc_can_regs_t *can = MXC_CAN_GET_CAN(can_idx);
331 if (can == 0) {
332 return E_BAD_PARAM;
333 }
334
335 return MXC_CAN_RevA_MessageReadAsync((mxc_can_reva_regs_t *)can, req);
336 }
337
338 /**********************************************************************************************************************************************************************/
MXC_CAN_MessageReadDMA(uint32_t can_idx,mxc_can_req_t * req,void (* dma_cb)(int,int))339 int MXC_CAN_MessageReadDMA(uint32_t can_idx, mxc_can_req_t *req, void (*dma_cb)(int, int))
340 {
341 mxc_dma_reqsel_t reqsel;
342
343 mxc_can_regs_t *can = MXC_CAN_GET_CAN(can_idx);
344 if (can == 0) {
345 return E_BAD_PARAM;
346 } else if (req->msg_info->fdf != 0) {
347 return E_NOT_SUPPORTED;
348 }
349
350 // Set Appropriate DMA Request Select
351 switch (can_idx) {
352 case 0:
353 reqsel = MXC_DMA_REQUEST_CAN0RX;
354 break;
355 case 1:
356 reqsel = MXC_DMA_REQUEST_CAN1RX;
357 break;
358 default:
359 return E_BAD_PARAM;
360 }
361
362 return MXC_CAN_RevA_MessageReadDMA((mxc_can_reva_regs_t *)can, req, reqsel, dma_cb);
363 }
364
365 /**********************************************************************************************************************************************************************/
MXC_CAN_Handler(uint32_t can_idx)366 int MXC_CAN_Handler(uint32_t can_idx)
367 {
368 mxc_can_regs_t *can = MXC_CAN_GET_CAN(can_idx);
369 if (can == 0) {
370 return E_BAD_PARAM;
371 }
372
373 return MXC_CAN_RevA_Handler((mxc_can_reva_regs_t *)can, NULL, NULL);
374 }
375
376 /**********************************************************************************************************************************************************************/
MXC_CAN_Control(uint32_t can_idx,mxc_can_ctrl_t ctrl,uint32_t ctrl_arg)377 int MXC_CAN_Control(uint32_t can_idx, mxc_can_ctrl_t ctrl, uint32_t ctrl_arg)
378 {
379 mxc_can_regs_t *can = MXC_CAN_GET_CAN(can_idx);
380 if (can == 0) {
381 return E_BAD_PARAM;
382 } else if (ctrl == MXC_CAN_CTRL_SET_FD_MODE) {
383 return E_NOT_SUPPORTED;
384 }
385
386 return MXC_CAN_RevA_Control((mxc_can_reva_regs_t *)can, ctrl, ctrl_arg);
387 }
388
389 /**********************************************************************************************************************************************************************/
MXC_CAN_SetWakeupTimer(uint32_t can_idx,uint8_t prescaler,uint16_t wup_filter_tm,uint32_t wup_expire_tm)390 int MXC_CAN_SetWakeupTimer(uint32_t can_idx, uint8_t prescaler, uint16_t wup_filter_tm,
391 uint32_t wup_expire_tm)
392 {
393 mxc_can_regs_t *can = MXC_CAN_GET_CAN(can_idx);
394 if (can == 0) {
395 return E_BAD_PARAM;
396 }
397
398 return MXC_CAN_RevA_SetWakeupTimer((mxc_can_reva_regs_t *)can, prescaler, wup_filter_tm,
399 wup_expire_tm);
400 }
401
402 /**********************************************************************************************************************************************************************/
MXC_CAN_GetStatus(uint32_t can_idx)403 mxc_can_stat_t MXC_CAN_GetStatus(uint32_t can_idx)
404 {
405 mxc_can_stat_t obj_stat[MXC_CAN_INSTANCES];
406 for (int i = 0; i < MXC_CAN_INSTANCES; i++) {
407 obj_stat[i] = MXC_CAN_RevA_GetStatus((mxc_can_reva_regs_t *)MXC_CAN_GET_CAN(i));
408 obj_stat[i].can_idx = i;
409 }
410
411 if (obj_stat[0].last_error_code && !obj_stat[1].last_error_code) {
412 return obj_stat[0];
413 } else if (!obj_stat[0].last_error_code && obj_stat[1].last_error_code) {
414 return obj_stat[1];
415 } else {
416 last_stat_update = (last_stat_update + 1) % MXC_CAN_INSTANCES;
417 return obj_stat[last_stat_update];
418 }
419 }
420
421 /**********************************************************************************************************************************************************************/
MXC_CAN_SignalUnitEvent(uint32_t can_idx,mxc_can_unit_evt_t event)422 void MXC_CAN_SignalUnitEvent(uint32_t can_idx, mxc_can_unit_evt_t event)
423 {
424 if (can_idx >= MXC_CAN_INSTANCES) {
425 return;
426 } else if (event > MXC_CAN_UNIT_EVT_BUS_OFF) {
427 return;
428 }
429
430 MXC_CAN_RevA_SignalUnitEvent(can_idx, event);
431 }
432
433 /**********************************************************************************************************************************************************************/
MXC_CAN_SignalObjectEvent(uint32_t can_idx,mxc_can_obj_evt_t event)434 void MXC_CAN_SignalObjectEvent(uint32_t can_idx, mxc_can_obj_evt_t event)
435 {
436 if (can_idx >= MXC_CAN_INSTANCES) {
437 return;
438 } else if (event > MXC_CAN_OBJ_EVT_RX_OVERRUN) {
439 return;
440 }
441
442 MXC_CAN_RevA_SignalObjectEvent(can_idx, event);
443 }
444
