[add] fdcan driver.

7 files changed, 426 insertions, 1 deletions

diff --git a/bsp/stm32/libraries/STM32MPxx_HAL/SConscript b/bsp/stm32/libraries/STM32MPxx_HAL/SConscript
index a55b27925d..815a291865 100644
--- a/bsp/stm32/libraries/STM32MPxx_HAL/SConscript
+++ b/bsp/stm32/libraries/STM32MPxx_HAL/SConscript
@@ -94,6 +94,9 @@ if GetDepend(['BSP_USING_LTDC']):
     src += ['STM32MP1xx_HAL_Driver/Src/stm32mp1xx_ll_dma2d.c']
     src += ['STM32MP1xx_HAL_Driver/Src/stm32mp1xx_hal_dsi.c']
 
+if GetDepend(['BSP_USING_FDCAN']):
+    src += ['STM32MP1xx_HAL_Driver/Src/stm32mp1xx_hal_fdcan.c']
+
 path = [cwd + '/STM32MP1xx_HAL_Driver/Inc',
     cwd + '/CMSIS/Device/ST/STM32MP1xx/Include',
     cwd + '/CMSIS/Core/Include',
diff --git a/bsp/stm32/stm32mp157a-st-ev1/board/CubeMX_Config/CM4/Inc/stm32mp1xx_hal_conf.h b/bsp/stm32/stm32mp157a-st-ev1/board/CubeMX_Config/CM4/Inc/stm32mp1xx_hal_conf.h
index 3b5a7e76df..0f22065b6d 100644
--- a/bsp/stm32/stm32mp157a-st-ev1/board/CubeMX_Config/CM4/Inc/stm32mp1xx_hal_conf.h
+++ b/bsp/stm32/stm32mp157a-st-ev1/board/CubeMX_Config/CM4/Inc/stm32mp1xx_hal_conf.h
@@ -42,7 +42,7 @@
 /*#define HAL_DFSDM_MODULE_ENABLED   */
 /*#define HAL_DTS_MODULE_ENABLED   */
 /*#define HAL_ETH_MODULE_ENABLED   */
-/*#define HAL_FDCAN_MODULE_ENABLED   */
+#define HAL_FDCAN_MODULE_ENABLED
 /*#define HAL_HASH_MODULE_ENABLED   */
 /*#define HAL_HCD_MODULE_ENABLED   */
 #define HAL_HSEM_MODULE_ENABLED
diff --git a/bsp/stm32/stm32mp157a-st-ev1/board/CubeMX_Config/CM4/Src/stm32mp1xx_hal_msp.c b/bsp/stm32/stm32mp157a-st-ev1/board/CubeMX_Config/CM4/Src/stm32mp1xx_hal_msp.c
index 1a712c3f8d..371a1d85f7 100644
--- a/bsp/stm32/stm32mp157a-st-ev1/board/CubeMX_Config/CM4/Src/stm32mp1xx_hal_msp.c
+++ b/bsp/stm32/stm32mp157a-st-ev1/board/CubeMX_Config/CM4/Src/stm32mp1xx_hal_msp.c
@@ -1521,6 +1521,104 @@ void HAL_DCMI_MspDeInit(DCMI_HandleTypeDef* hdcmi)
 }
 
 /**
+* @brief FDCAN MSP Initialization
+* This function configures the hardware resources used in this example
+* @param hfdcan: FDCAN handle pointer
+* @retval None
+*/
+void HAL_FDCAN_MspInit(FDCAN_HandleTypeDef* hfdcan)
+{
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
+  if(hfdcan->Instance==FDCAN1)
+  {
+  /* USER CODE BEGIN FDCAN1_MspInit 0 */
+
+  /* USER CODE END FDCAN1_MspInit 0 */
+  if(IS_ENGINEERING_BOOT_MODE())
+  {
+  /** Initializes the peripherals clock 
+  */
+    PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_FDCAN;
+    PeriphClkInit.FdcanClockSelection = RCC_FDCANCLKSOURCE_HSE;
+    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+  }
+
+    /* Peripheral clock enable */
+    __HAL_RCC_FDCAN_CLK_ENABLE();
+  
+    __HAL_RCC_GPIOH_CLK_ENABLE();
+    __HAL_RCC_GPIOI_CLK_ENABLE();
+    /**FDCAN1 GPIO Configuration    
+    PH13     ------> FDCAN1_TX
+    PI9     ------> FDCAN1_RX 
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_13;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF9_FDCAN1;
+    HAL_GPIO_Init(GPIOH, &GPIO_InitStruct);
+
+    GPIO_InitStruct.Pin = GPIO_PIN_9;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Alternate = GPIO_AF9_FDCAN1;
+    HAL_GPIO_Init(GPIOI, &GPIO_InitStruct);
+
+    /* FDCAN1 interrupt Init */
+    HAL_NVIC_SetPriority(FDCAN1_IT0_IRQn, 0x02, 0);
+    HAL_NVIC_EnableIRQ(FDCAN1_IT0_IRQn);
+    HAL_NVIC_SetPriority(FDCAN1_IT1_IRQn, 0x02, 0);
+    HAL_NVIC_EnableIRQ(FDCAN1_IT1_IRQn);
+    HAL_NVIC_SetPriority(FDCAN_CAL_IRQn, 0x02, 0);
+    HAL_NVIC_EnableIRQ(FDCAN_CAL_IRQn);
+  /* USER CODE BEGIN FDCAN1_MspInit 1 */
+  /* USER CODE END FDCAN1_MspInit 1 */
+  }
+
+}
+
+/**
+* @brief FDCAN MSP De-Initialization
+* This function freeze the hardware resources used in this example
+* @param hfdcan: FDCAN handle pointer
+* @retval None
+*/
+void HAL_FDCAN_MspDeInit(FDCAN_HandleTypeDef* hfdcan)
+{
+  if(hfdcan->Instance==FDCAN1)
+  {
+  /* USER CODE BEGIN FDCAN1_MspDeInit 0 */
+
+  /* USER CODE END FDCAN1_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_FDCAN_CLK_DISABLE();
+  
+    /**FDCAN1 GPIO Configuration    
+    PH13     ------> FDCAN1_TX
+    PI9     ------> FDCAN1_RX 
+    */
+    HAL_GPIO_DeInit(GPIOH, GPIO_PIN_13);
+
+    HAL_GPIO_DeInit(GPIOI, GPIO_PIN_9);
+
+    /* FDCAN1 interrupt DeInit */
+    HAL_NVIC_DisableIRQ(FDCAN1_IT0_IRQn);
+    HAL_NVIC_DisableIRQ(FDCAN1_IT1_IRQn);
+    HAL_NVIC_DisableIRQ(FDCAN_CAL_IRQn);
+  /* USER CODE BEGIN FDCAN1_MspDeInit 1 */
+
+  /* USER CODE END FDCAN1_MspDeInit 1 */
+  }
+
+}
+
+/**
   * @brief  This function is executed in case of error occurrence.
   * @retval None
   */
diff --git a/bsp/stm32/stm32mp157a-st-ev1/board/Kconfig b/bsp/stm32/stm32mp157a-st-ev1/board/Kconfig
index 13d562ea95..8a456120cd 100644
--- a/bsp/stm32/stm32mp157a-st-ev1/board/Kconfig
+++ b/bsp/stm32/stm32mp157a-st-ev1/board/Kconfig
@@ -252,6 +252,15 @@ menu "On-chip Peripheral Drivers"
                 default n
         endif
 
+    menuconfig BSP_USING_FDCAN
+    bool "Enable FDCAN"
+    default n
+    if BSP_USING_FDCAN
+        config BSP_USING_FDCAN1
+            bool "Enable FDCAN1"
+            default n
+    endif
+
  source "../libraries/HAL_Drivers/Kconfig"
 
 endmenu
diff --git a/bsp/stm32/stm32mp157a-st-ev1/board/SConscript b/bsp/stm32/stm32mp157a-st-ev1/board/SConscript
index 2d43e1cf64..dec20f29e5 100644
--- a/bsp/stm32/stm32mp157a-st-ev1/board/SConscript
+++ b/bsp/stm32/stm32mp157a-st-ev1/board/SConscript
@@ -40,6 +40,9 @@ if GetDepend(['BSP_USING_MFX']):
     src += Glob('ports/drv_mfx.c')
     src += Glob('ports/mfxstm32l152.c')
 
+if GetDepend(['BSP_USING_FDCAN']):
+    src += Glob('ports/drv_fdcan.c')
+
 if GetDepend(['BSP_USING_OPENAMP']):
     src +=  Glob('CubeMX_Config/CM4/Src/ipcc.c')
     src +=  Glob('CubeMX_Config/CM4/Src/openamp.c')
diff --git a/bsp/stm32/stm32mp157a-st-ev1/board/ports/drv_fdcan.c b/bsp/stm32/stm32mp157a-st-ev1/board/ports/drv_fdcan.c
new file mode 100644
index 0000000000..78c18e8594
--- /dev/null
+++ b/bsp/stm32/stm32mp157a-st-ev1/board/ports/drv_fdcan.c
@@ -0,0 +1,290 @@
+/*
+ * Copyright (c) 2006-2022, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2020-07-06     thread-liu   first version
+ */
+
+#include "board.h"
+
+#if defined(BSP_USING_FDCAN1) || defined(BSP_USING_FDCAN2)
+
+#include "drv_fdcan.h"
+
+//#define DRV_DEBUG
+#define LOG_TAG             "drv.fdcan"
+#include <drv_log.h>
+
+struct stm32_fdcan
+{
+    struct rt_device dev;
+    FDCAN_HandleTypeDef fdcan;
+    FDCAN_FilterTypeDef filter;
+    FDCAN_TxHeaderTypeDef tx_config;
+    FDCAN_RxHeaderTypeDef rx_config;
+    volatile rt_uint8_t fifo0;
+    volatile rt_uint8_t fifo1;
+};
+static struct stm32_fdcan rt_fdcan = {0};
+
+static rt_err_t rt_fdcan_init(rt_device_t dev)
+{
+    RT_ASSERT(dev != RT_NULL);
+    struct stm32_fdcan *device = (struct stm32_fdcan *)dev;
+
+    device->fdcan.Instance                  = FDCAN1;
+    device->fdcan.Init.FrameFormat          = FDCAN_FRAME_CLASSIC;
+    device->fdcan.Init.Mode                 = FDCAN_MODE_INTERNAL_LOOPBACK;
+    device->fdcan.Init.AutoRetransmission   = ENABLE;
+    device->fdcan.Init.TransmitPause        = DISABLE;
+    device->fdcan.Init.ProtocolException    = ENABLE;
+    device->fdcan.Init.NominalPrescaler     = 0x01; /* tq = NominalPrescaler x (1/fdcan_ker_ck) */
+    device->fdcan.Init.NominalSyncJumpWidth = 0x08;
+    device->fdcan.Init.DataPrescaler        = 0x01;
+    device->fdcan.Init.DataSyncJumpWidth    = 0x04;
+    device->fdcan.Init.DataTimeSeg1         = 0x05; /* DataTimeSeg1 = Propagation_segment + Phase_segment_1 */
+    device->fdcan.Init.DataTimeSeg2         = 0x04;
+    device->fdcan.Init.NominalTimeSeg1      = 0x1F; /* NominalTimeSeg1 = Propagation_segment + Phase_segment_1 */
+    device->fdcan.Init.NominalTimeSeg2      = 0x08;
+    device->fdcan.Init.MessageRAMOffset     = 0x00;
+    device->fdcan.Init.StdFiltersNbr        = 0x01;
+    device->fdcan.Init.ExtFiltersNbr        = 0x01;
+    device->fdcan.Init.RxFifo0ElmtsNbr      = 0x01;
+    device->fdcan.Init.RxFifo0ElmtSize      = FDCAN_DATA_BYTES_8;
+    device->fdcan.Init.RxFifo1ElmtsNbr      = 0x02;
+    device->fdcan.Init.RxFifo1ElmtSize      = FDCAN_DATA_BYTES_8;
+    device->fdcan.Init.RxBuffersNbr         = 0x00;
+    device->fdcan.Init.TxEventsNbr          = 0x00;
+    device->fdcan.Init.TxBuffersNbr         = 0x00;
+    device->fdcan.Init.TxFifoQueueElmtsNbr  = 0x01;
+    device->fdcan.Init.TxFifoQueueMode      = FDCAN_TX_FIFO_OPERATION;
+    device->fdcan.Init.TxElmtSize           = FDCAN_DATA_BYTES_8;
+
+    if (HAL_FDCAN_Init(&device->fdcan) != HAL_OK)
+    {
+        return RT_ERROR;
+    }
+
+    device->filter.IdType             = FDCAN_EXTENDED_ID;
+    device->filter.FilterIndex        = 0;
+    device->filter.FilterType         = FDCAN_FILTER_MASK;
+    device->filter.FilterConfig       = FDCAN_FILTER_TO_RXFIFO0;
+    device->filter.FilterID1          = 0x1111111;
+    device->filter.FilterID2          = 0x2222222;
+
+    if (HAL_FDCAN_ConfigFilter(&device->fdcan, &device->filter)!=HAL_OK)
+    {
+        return RT_ERROR;
+    }
+    HAL_FDCAN_Start(&device->fdcan);
+    HAL_FDCAN_ActivateNotification(&device->fdcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0); /* open rx fifo0 new message it */
+
+    device->fifo0 = RESET;
+    device->fifo1 = RESET;
+
+    return RT_EOK;
+}
+
+static rt_err_t rt_fdcan_open(rt_device_t dev, rt_uint16_t oflag)
+{
+    RT_ASSERT(dev != RT_NULL);
+
+    return RT_EOK;
+}
+
+static rt_err_t rt_fdcan_close(rt_device_t dev)
+{
+    RT_ASSERT(dev != RT_NULL);
+
+    return RT_EOK;
+}
+
+static rt_err_t rt_fdcan_control(rt_device_t dev, int cmd, void *args)
+{
+    RT_ASSERT(dev != RT_NULL);
+    struct stm32_fdcan *device = (struct stm32_fdcan *)dev;
+
+    switch (cmd)
+    {
+        case FDCAN_MODE_NORMAL:
+            device->fdcan.Init.Mode  = FDCAN_MODE_NORMAL;
+            break;
+        case FDCAN_MODE_INTERNAL_LOOPBACK:
+            device->fdcan.Init.Mode  = FDCAN_MODE_INTERNAL_LOOPBACK;
+            break;
+        default:
+            break;
+    }
+
+    HAL_FDCAN_Init(&device->fdcan);
+
+    return RT_EOK;
+}
+
+static rt_size_t rt_fdcan_read(rt_device_t dev, rt_off_t pos, void *buffer, rt_size_t size)
+{
+    RT_ASSERT(dev != RT_NULL);
+    struct stm32_fdcan *device = (struct stm32_fdcan *)dev;
+
+    if (rt_fdcan.fifo0 == SET)
+    {
+        rt_fdcan.fifo0 = RESET;
+        if (HAL_FDCAN_GetRxMessage(&device->fdcan, FDCAN_RX_FIFO0, &device->rx_config, (uint8_t *)buffer) != HAL_OK)
+        {
+            LOG_E("get msg error from fdcan fifo0!");
+            return 0;
+        }
+
+        return device->rx_config.DataLength >> 16;
+    }
+    if (rt_fdcan.fifo1 == SET)
+    {
+        rt_fdcan.fifo0 = RESET;
+        if (HAL_FDCAN_GetRxMessage(&device->fdcan, FDCAN_RX_FIFO1, &device->rx_config, (uint8_t *)buffer) != HAL_OK)
+        {
+            LOG_E("get msg error from fdcan fifo1!");
+            return 0;
+        }
+
+        return device->rx_config.DataLength >> 16;
+    }
+
+    return 0;
+}
+
+static rt_size_t rt_fdcan_write(rt_device_t dev, rt_off_t pos, const void *buffer, rt_size_t size)
+{
+    RT_ASSERT(dev != RT_NULL);
+    struct stm32_fdcan *device = (struct stm32_fdcan *)dev;
+
+    device->tx_config.Identifier          = 0x1111112;
+    device->tx_config.IdType              = FDCAN_EXTENDED_ID;
+    device->tx_config.TxFrameType         = FDCAN_DATA_FRAME;
+    device->tx_config.DataLength          = FDCAN_DLC_BYTES_8;
+    device->tx_config.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
+    device->tx_config.BitRateSwitch       = FDCAN_BRS_OFF;
+    device->tx_config.FDFormat            = FDCAN_CLASSIC_CAN;
+    device->tx_config.TxEventFifoControl  = FDCAN_NO_TX_EVENTS;
+    device->tx_config.MessageMarker       = 0xCC;
+
+    if (HAL_FDCAN_AddMessageToTxFifoQ(&device->fdcan, &device->tx_config, (uint8_t *)buffer) != HAL_OK)
+    {
+        return RT_ERROR;
+    }
+
+    return RT_EOK;
+}
+
+void FDCAN1_IT0_IRQHandler(void)
+{
+    /* enter interrupt */
+    rt_interrupt_enter();
+
+    HAL_FDCAN_IRQHandler(&rt_fdcan.fdcan);
+
+    /* leave interrupt */
+    rt_interrupt_leave();
+}
+
+void FDCAN1_IT1_IRQHandler(void)
+{
+   /* enter interrupt */
+   rt_interrupt_enter();
+
+   HAL_FDCAN_IRQHandler(&rt_fdcan.fdcan);
+
+   /* leave interrupt */
+   rt_interrupt_leave();
+}
+
+void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
+{
+    if (hfdcan->Instance == FDCAN1)
+    {
+        if ((RxFifo0ITs & FDCAN_IT_RX_FIFO0_NEW_MESSAGE) != RESET)
+        {
+            rt_fdcan.fifo0 = SET;
+            HAL_FDCAN_ActivateNotification(hfdcan, FDCAN_IT_RX_FIFO0_NEW_MESSAGE, 0);
+        }
+    }
+}
+
+void HAL_FDCAN_RxFifo1Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo1ITs)
+{
+    if ((RxFifo1ITs & FDCAN_IT_RX_FIFO1_NEW_MESSAGE) != RESET)
+    {
+        rt_fdcan.fifo1 = SET;
+        HAL_FDCAN_ActivateNotification(hfdcan, FDCAN_IT_RX_FIFO1_NEW_MESSAGE, 0);
+    }
+}
+
+int fdcan_init(void)
+{
+    rt_fdcan.dev.type      = RT_Device_Class_CAN;
+    rt_fdcan.dev.init      = rt_fdcan_init;
+    rt_fdcan.dev.open      = rt_fdcan_open;
+    rt_fdcan.dev.close     = rt_fdcan_close;
+    rt_fdcan.dev.read      = rt_fdcan_read;
+    rt_fdcan.dev.write     = rt_fdcan_write;
+    rt_fdcan.dev.control   = rt_fdcan_control;
+    rt_fdcan.dev.user_data = RT_NULL;
+
+    rt_device_register(&rt_fdcan.dev, "fdcan1", RT_DEVICE_FLAG_RDWR | RT_DEVICE_FLAG_REMOVABLE | RT_DEVICE_FLAG_STANDALONE);
+
+    LOG_I("fdcan1 init success!");
+
+    return RT_EOK;
+}
+INIT_DEVICE_EXPORT(fdcan_init);
+
+#ifdef FINSH_USING_MSH
+#include <finsh.h>
+
+int fdcan_sample(int argc, char **argv)
+{
+    rt_err_t result = RT_EOK;
+    rt_uint8_t i, rx_buf[8], tx_buf[8];
+    struct rt_device *dev = RT_NULL;
+
+    if (argc != 9)
+    {
+        rt_kprintf("Usage:\n");
+        rt_kprintf("fdcan_sample 1 2 3 4 5 6 7 8\n");
+        return -1;
+    }
+
+    for (i = 0; i < 8; i++)
+    {
+        tx_buf[i] = atoi(argv[i+1]);
+    }
+
+    dev = rt_device_find("fdcan1");
+    if (dev == RT_NULL)
+    {
+        rt_kprintf("can't find fdcan1 device!\n");
+        return RT_ERROR;
+    }
+    rt_device_open(dev, RT_DEVICE_OFLAG_RDWR);
+
+    rt_device_write(dev, 0, tx_buf, 8);
+    rt_thread_delay(1);
+    rt_device_read(dev, 0, rx_buf, 8);
+
+    rt_kprintf("fdcan1 loopback test over, rbuf = ");
+    for (i = 0; i < 8; i++)
+    {
+        rt_kprintf(" %x ", rx_buf[i]);
+    }
+    rt_kprintf("\n");
+
+    return result;
+}
+
+MSH_CMD_EXPORT(fdcan_sample, fdcan loopback mode test);
+
+#endif
+
+#endif
diff --git a/bsp/stm32/stm32mp157a-st-ev1/board/ports/drv_fdcan.h b/bsp/stm32/stm32mp157a-st-ev1/board/ports/drv_fdcan.h
new file mode 100644
index 0000000000..ab4280d360
--- /dev/null
+++ b/bsp/stm32/stm32mp157a-st-ev1/board/ports/drv_fdcan.h
@@ -0,0 +1,22 @@
+/*
+ * Copyright (c) 2006-2022, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author       Notes
+ * 2020-07-06     thread-liu   first version
+ */
+
+#ifndef __DRV_FDCAN_H__
+#define __DRV_FDCAN_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif