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/*
* Copyright : (C) 2022 Phytium Information Technology, Inc.
* All Rights Reserved.
*
* This program is OPEN SOURCE software: you can redistribute it and/or modify it
* under the terms of the Phytium Public License as published by the Phytium Technology Co.,Ltd,
* either version 1.0 of the License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,but WITHOUT ANY WARRANTY;
* without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the Phytium Public License for more details.
*
*
* FilePath: fcan.h
* Date: 2021-04-27 15:08:44
* LastEditTime: 2022-02-18 08:29:25
* Description: This files is for
*
* Modify History:
* Ver Who Date Changes
* ----- ------ -------- --------------------------------------
*/
#ifndef FT_CAN_H
#define FT_CAN_H
#include "ftypes.h"
#include "ferror_code.h"
#include "fparameters.h"
#include "fkernel.h"
#include "fcan_hw.h"
typedef enum
{
FCAN_INTR_EVENT_SEND = 0, /* Handler type for frame sending interrupt */
FCAN_INTR_EVENT_RECV = 1, /* Handler type for frame reception interrupt */
FCAN_INTR_EVENT_ERROR, /* Handler type for error interrupt */
FCAN_INTR_EVENT_NUM
} FCanIntrEventType;
#define FCAN_SUCCESS FT_SUCCESS /* SUCCESS */
#define FCAN_NOT_READY FT_MAKE_ERRCODE(ErrModBsp, ErrBspCan, 1)
#define FCAN_FAILURE FT_MAKE_ERRCODE(ErrModBsp, ErrBspCan, 2) /* failed */
#define FCAN_INVAL_PARAM FT_MAKE_ERRCODE(ErrModBsp, ErrBspCan, 3) /* invalid parameters */
#if defined(CONFIG_FCAN_USE_CANFD)
#define FCAN_DATA_LENGTH 64U
#else
#define FCAN_DATA_LENGTH 8U
#endif
/* CAN payload length and DLC definitions according to ISO 11898-1 */
#define CAN_MAX_DLC 8
#define CAN_MAX_DLEN 8
#define CAN_MAX_CTL 3
#define CAN_SFF_ID_BITS 11
#define CAN_EFF_ID_BITS 29
/* special address description flags for the CAN_ID */
#define CAN_EFF_FLAG 0x80000000U /* EFF/SFF is set in the MSB */
#define CAN_RTR_FLAG 0x40000000U /* remote transmission request */
#define CAN_ERR_FLAG 0x20000000U /* error message frame */
/* valid bits in CAN ID for frame formats */
#define CAN_SFF_MASK 0x000007FFU /* standard frame format (SFF) */
#define CAN_EFF_MASK 0x1FFFFFFFU /* extended frame format (EFF) */
#define CAN_ERR_MASK 0x1FFFFFFFU /* omit EFF, RTR, ERR flags */
/* Frame type */
#define STANDARD_FRAME 0 /* standard frame */
#define EXTEND_FRAME 1 /* extended frame */
/* Bit timing calculate */
#define CAN_CALC_MAX_ERROR 50 /* in one-tenth of a percent */
#define CAN_CALC_SYNC_SEG 1
/* can segment type */
typedef enum
{
FCAN_ARB_SEGMENT = 0, /* Arbitration segment */
FCAN_DATA_SEGMENT = 1, /* Data segment */
FCAN_SEGMENT_TYPE_NUM
} FCanSegmentType;
/* Can error status bit mask */
#define FCAN_BUS_ERROR_MASK 1
#define FCAN_PASSIVE_ERROR_MASK 2
#define FCAN_PASSIVE_WARNING_MASK 4
#define FCAN_FIFO_RX_OVERFLOW_MASK 8
/* Can frame select */
#define FCAN_STANDARD_FRAME 0
#define FCAN_EXTENDARD_FRAME 1
/* can baudrate */
#define FCAN_BAUDRATE_10K 10000
#define FCAN_BAUDRATE_50K 50000
#define FCAN_BAUDRATE_100K 100000
#define FCAN_BAUDRATE_200K 200000
#define FCAN_BAUDRATE_250K 250000
#define FCAN_BAUDRATE_500K 500000
#define FCAN_BAUDRATE_1000K 1000000
#define FCAN_BAUDRATE_2000K 2000000
#define FCAN_BAUDRATE_3000K 3000000
#define FCAN_BAUDRATE_4000K 4000000
#define FCAN_BAUDRATE_5000K 5000000
/*
* defined bits for FCanFrame.flags
*
* The use of struct FCanFrame implies the Extended Data Length (EDL) bit to
* be set in the CAN frame bitstream on the wire. The EDL bit switch turns
* the CAN controllers bitstream processor into the CAN FD mode which creates
* two new options within the CAN FD frame specification:
*
* Bit Rate Switch - to indicate a second baudrate is/was used for the payload
* Error State Indicator - represents the error state of the transmitting node
*
* As the CANFD_ESI bit is internally generated by the transmitting CAN
* controller only the CANFD_BRS bit is relevant for real CAN controllers when
* building a CAN FD frame for transmission. Setting the CANFD_ESI bit can make
* sense for virtual CAN interfaces to test applications with echoed frames.
*/
#define CANFD_BRS 0x02 /* bit rate switch (second baudrate for payload data) */
#define CANFD_ESI 0x04 /* error state indicator of the transmitting node */
typedef void (*FCanIntrEventHandler)(void *param);
typedef struct
{
FCanIntrEventType type;
FCanIntrEventHandler handler;
void *param;
} FCanIntrEventConfig;
typedef struct
{
u32 filter_index;/* filter register index*/
u32 id; /* id bit to receive */
u32 mask;/* id mask bit to receive */
u32 type;/* frame type, standard or extended*/
} FCanIdMaskConfig;
typedef struct
{
u32 canid;/* can frame id */
u8 candlc;/* can frame length */
u8 flags; /* additional flags for CAN FD */
u8 data[FCAN_DATA_LENGTH] __attribute__((aligned(8)));
} FCanFrame;
typedef struct
{
u32 instance_id; /* Id of device */
uintptr base_address; /* Can base Address */
u32 irq_num; /* interrupt number */
u32 irq_prority;/* interrupt priority*/
} FCanConfig;
typedef struct
{
FCanSegmentType segment;
boolean auto_calc; /* if auto calculate baudrate parameters */
u32 baudrate; /* baudrate */
u32 sample_point; /* sample point */
u32 prop_seg; /* Propagation segment in TQs */
u32 phase_seg1; /* Phase buffer segment 1 in TQs */
u32 phase_seg2; /* Phase buffer segment 2 in TQs */
u32 sjw; /* Synchronisation jump width in TQs */
u32 brp; /* Baudrate prescaler */
} FCanBaudrateConfig;
typedef struct
{
u8 xfers;/* transfer status */
u8 rs; /* receive status */
u8 ts; /* transmit status */
u8 fies; /* Current status of the controller state machine */
u8 fras; /* Frame tagging status */
} FCanXferStatus;
typedef struct
{
FCanXferStatus xfer_status;
u32 tx_err_cnt;
u32 rx_err_cnt;
u32 tx_fifo_cnt;
u32 rx_fifo_cnt;
} FCanStatus;
typedef struct
{
FCanConfig config;
u32 is_ready; /* Device is initialized and ready */
boolean use_canfd; /* if use canfd function */
FCanIntrEventConfig intr_event[FCAN_INTR_EVENT_NUM];/* event handler and parameters for interrupt */
} FCanCtrl;
/* get default configuration of specific can id */
const FCanConfig *FCanLookupConfig(FCanInstance instance_id);
/* reset a specific can instance */
void FCanReset(FCanCtrl *instance_p);
/* Deinitializes a specific can instance */
void FCanDeInitialize(FCanCtrl *instance_p);
/* Initializes a specific can instance */
FError FCanCfgInitialize(FCanCtrl *instance_p, const FCanConfig *input_config_p);
/* Set the fcan baudrate */
FError FCanBaudrateSet(FCanCtrl *instance_p, FCanBaudrateConfig *baudrate_p);
/* interrupt handler for the driver */
void FCanIntrHandler(s32 vector, void *args);
/* register FCanCtrl interrupt handler function */
void FCanRegisterInterruptHandler(FCanCtrl *instance_p, FCanIntrEventConfig *intr_event_p);
/* receive can message by specific can instance */
FError FCanRecv(FCanCtrl *instance_p, FCanFrame *frame_p);
/* send can message by specific can instance */
FError FCanSend(FCanCtrl *instance_p, FCanFrame *frame_p);
/* Enable the specific can instance */
FError FCanEnable(FCanCtrl *instance_p, boolean enable);
/* read can status, include send and receive error count */
FError FCanStatusGet(FCanCtrl *instance_p, FCanStatus *status_p);
/* Set the can mask and umask id */
FError FCanIdMaskFilterSet(FCanCtrl *instance_p, FCanIdMaskConfig *id_mask_p);
/* Set the can id mask filter enable */
void FCanIdMaskFilterEnable(FCanCtrl *instance_p);
/* Set the can id mask filter disable */
void FCanIdMaskFilterDisable(FCanCtrl *instance_p);
/* Enable can interrupt */
FError FCanInterruptEnable(FCanCtrl *instance_p, FCanIntrEventType event_type);
/* Enable or disable can fd */
FError FCanFdEnable(FCanCtrl *instance_p, boolean enable);
#endif // !FT_CAN_H
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