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/*
* Copyright (c) 2006-2021, RT-Thread Development Team
*
* SPDX-License-Identifier: Apache-2.0
*
* Change Logs:
* Date Author Notes
* 2021-10-29 mazhiyuan first version
*/
#include "drv_can.h"
static struct ra_can_config can_config[] =
{
#ifdef BSP_USING_CAN0
CAN0_CONFIG,
#endif
#ifdef BSP_USING_CAN1
CAN1_CONFIG
#endif
};
enum
{
#ifdef BSP_USING_CAN0
CAN0_INDEX,
#endif
#ifdef BSP_USING_CAN1
CAN1_INDEX,
#endif
};
static struct ra_can can_obj[sizeof(can_config) / sizeof(can_config[0])] = {0};
static const struct ra_baud_rate_tab can_baud_rate_tab[] =
{
{CAN1MBaud, 3, 6, 3, 1 + 4},
{CAN800kBaud, 4, 15, 5, 1 + 2},
{CAN500kBaud, 4, 14, 5, 1 + 4},
{CAN250kBaud, 4, 14, 5, 1 + 9},
{CAN125kBaud, 4, 14, 5, 1 + 19},
{CAN100kBaud, 4, 14, 5, 1 + 24},
{CAN50kBaud, 4, 14, 5, 1 + 49},
{CAN20kBaud, 4, 14, 5, 1 + 124},
{CAN10kBaud, 4, 14, 5, 1 + 249}
};
static rt_uint32_t get_can_baud_index(rt_uint32_t baud)
{
rt_uint32_t len, index;
len = sizeof(can_baud_rate_tab) / sizeof(can_baud_rate_tab[0]);
for (index = 0; index < len; index++)
{
if (can_baud_rate_tab[index].baud_rate == baud)
return index;
}
return 0; /* default baud is CAN1MBaud */
}
static void ra_can_get_config(void)
{
struct can_configure config = CANDEFAULTCONFIG;
#ifdef BSP_USING_CAN0
can_obj[CAN0_INDEX].can_dev.config = config;
can_obj[CAN0_INDEX].can_dev.config.msgboxsz = CAN_NO_OF_MAILBOXES_g_can0;
can_obj[CAN0_INDEX].can_dev.config.sndboxnumber = 1;
can_obj[CAN0_INDEX].can_dev.config.ticks = 50;
#endif
#ifdef BSP_USING_CAN1
can_obj[CAN1_INDEX].can_dev.config = config;
can_obj[CAN1_INDEX].can_dev.config.msgboxsz = CAN_NO_OF_MAILBOXES_g_can1;
can_obj[CAN1_INDEX].can_dev.config.sndboxnumber = 1;
can_obj[CAN1_INDEX].can_dev.config.ticks = 50;
#endif
}
rt_err_t ra_can_configure(struct rt_can_device *can_dev, struct can_configure *cfg)
{
struct ra_can *can;
RT_ASSERT(can_dev != RT_NULL);
RT_ASSERT(cfg != RT_NULL);
fsp_err_t err = FSP_SUCCESS;
can = rt_container_of(can_dev, struct ra_can, can_dev);
RT_ASSERT(can != RT_NULL);
err = R_CAN_Open(can->config->p_api_ctrl, can->config->p_cfg);
if (FSP_SUCCESS != err)
{
return RT_ERROR;
}
return RT_EOK;
}
rt_err_t ra_can_control(struct rt_can_device *can_dev, int cmd, void *arg)
{
struct ra_can *can;
can_info_t can_info;
rt_uint32_t argval;
RT_ASSERT(can_dev != RT_NULL);
can = rt_container_of(can_dev, struct ra_can, can_dev);
switch (cmd)
{
case RT_DEVICE_CTRL_CLR_INT:
R_BSP_IrqStatusClear((IRQn_Type)arg);
break;
case RT_CAN_CMD_SET_BAUD:
argval = (rt_uint32_t) arg;
if (argval != CAN1MBaud &&
argval != CAN800kBaud &&
argval != CAN500kBaud &&
argval != CAN250kBaud &&
argval != CAN125kBaud &&
argval != CAN100kBaud &&
argval != CAN50kBaud &&
argval != CAN20kBaud &&
argval != CAN10kBaud)
{
return -RT_ERROR;
}
if (argval != can->can_dev.config.baud_rate)
{
can->can_dev.config.baud_rate = argval;
uint32_t index = get_can_baud_index(argval);
can->config->p_cfg->p_bit_timing->baud_rate_prescaler = can_baud_rate_tab[index].prescaler;
can->config->p_cfg->p_bit_timing->synchronization_jump_width = can_baud_rate_tab[index].sjw;
can->config->p_cfg->p_bit_timing->time_segment_1 = can_baud_rate_tab[index].ts1;
can->config->p_cfg->p_bit_timing->time_segment_2 = can_baud_rate_tab[index].ts2;
return ra_can_configure(&can->can_dev, &can->can_dev.config);
}
break;
case RT_CAN_CMD_SET_MODE:
argval = (rt_uint32_t) arg;
if (argval != RT_CAN_MODE_NORMAL &&
argval != RT_CAN_MODE_LISTEN &&
argval != RT_CAN_MODE_LOOPBACK)
{
return -RT_ERROR;
}
if (argval != can->can_dev.config.mode)
{
can_test_mode_t mode_to_set;
can->can_dev.config.mode = argval;
switch (argval)
{
case RT_CAN_MODE_NORMAL:
mode_to_set = CAN_TEST_MODE_DISABLED;
case RT_CAN_MODE_LISTEN:
mode_to_set = CAN_TEST_MODE_LISTEN;
case RT_CAN_MODE_LOOPBACK:
mode_to_set = CAN_TEST_MODE_LOOPBACK_INTERNAL;
}
R_CAN_ModeTransition(can->config->p_api_ctrl, ((can_instance_ctrl_t *)(can->config->p_api_ctrl))->operation_mode, mode_to_set);
}
break;
case RT_CAN_CMD_GET_STATUS:
R_CAN_InfoGet(can->config->p_api_ctrl, &can_info);
can->can_dev.status.rcverrcnt = can_info.error_count_receive;
can->can_dev.status.snderrcnt = can_info.error_count_transmit;
can->can_dev.status.errcode = can_info.error_code;
rt_memcpy(arg, &can->can_dev.status, sizeof(can->can_dev.status));
break;
default:
return -RT_ERROR;
}
return RT_EOK;
}
int ra_can_sendmsg(struct rt_can_device *can_dev, const void *buf, rt_uint32_t boxno)
{
struct ra_can *can;
can_frame_t g_can_tx_frame;
struct rt_can_msg *msg_rt = (struct rt_can_msg *)buf;
RT_ASSERT(can_dev != RT_NULL);
RT_ASSERT(buf != RT_NULL);
g_can_tx_frame.id = msg_rt->id;
g_can_tx_frame.id_mode = msg_rt->ide;
g_can_tx_frame.type = msg_rt->rtr;
g_can_tx_frame.data_length_code = msg_rt->len;
g_can_tx_frame.options = 0;
memcpy(g_can_tx_frame.data, msg_rt->data, 8);
can = rt_container_of(can_dev, struct ra_can, can_dev);
RT_ASSERT(boxno < can->config->num_of_mailboxs);
if (R_CAN_Write(can->config->p_api_ctrl, boxno, &g_can_tx_frame) != FSP_SUCCESS)
{
rt_exit_critical();
return RT_ERROR;
}
return RT_EOK;
}
int ra_can_recvmsg(struct rt_can_device *can_dev, void *buf, rt_uint32_t boxno)
{
struct rt_can_msg *msg_rt = (struct rt_can_msg *)buf;
can_frame_t *msg_ra;
struct ra_can *can;
RT_ASSERT(can_dev != RT_NULL);
RT_ASSERT(buf != RT_NULL);
can = rt_container_of(can_dev, struct ra_can, can_dev);
RT_ASSERT(boxno < can->config->num_of_mailboxs);
if (can->callback_args->mailbox != boxno)
return 0;
msg_ra = can->callback_args->p_frame;
msg_rt->id = msg_ra->id;
msg_rt->ide = msg_ra->id_mode;
msg_rt->rtr = msg_ra->type;
msg_rt->rsv = RT_NULL;
msg_rt->len = msg_ra->data_length_code;
msg_rt->priv = boxno;
msg_rt->hdr_index = RT_NULL;
memcpy(msg_rt->data, msg_ra->data, msg_ra->data_length_code);
return sizeof(struct rt_can_msg);
}
const struct rt_can_ops ra_can_ops =
{
.configure = ra_can_configure,
.control = ra_can_control,
.sendmsg = ra_can_sendmsg,
.recvmsg = ra_can_recvmsg
};
#ifdef BSP_USING_CAN0
void can0_callback(can_callback_args_t *p_args)
{
rt_interrupt_enter();
switch (p_args->event)
{
case CAN_EVENT_TX_COMPLETE:
rt_hw_can_isr(&can_obj[CAN0_INDEX].can_dev, RT_CAN_EVENT_TX_DONE | p_args->mailbox << 8);
break;
case CAN_EVENT_RX_COMPLETE:
can_obj[CAN0_INDEX].callback_args = p_args;
if (p_args->event == CAN_EVENT_RX_COMPLETE)
rt_hw_can_isr(&can_obj[CAN0_INDEX].can_dev, RT_CAN_EVENT_RX_IND | p_args->mailbox << 8);
break;
case CAN_EVENT_TX_ABORTED:
rt_hw_can_isr(&can_obj[CAN0_INDEX].can_dev, RT_CAN_EVENT_TX_FAIL | p_args->mailbox << 8);
break;
case CAN_EVENT_MAILBOX_MESSAGE_LOST: //overwrite/overrun error event
case CAN_EVENT_BUS_RECOVERY: //Bus recovery error event
case CAN_EVENT_ERR_BUS_OFF: //error Bus Off event
case CAN_EVENT_ERR_PASSIVE: //error passive event
case CAN_EVENT_ERR_WARNING: //error warning event
case CAN_EVENT_ERR_BUS_LOCK: //error bus lock
case CAN_EVENT_ERR_CHANNEL: //error channel
case CAN_EVENT_ERR_GLOBAL: //error global
{
break;
}
}
rt_interrupt_leave();
}
#endif
#ifdef BSP_USING_CAN1
void can1_callback(can_callback_args_t *p_args)
{
rt_interrupt_enter();
switch (p_args->event)
{
case CAN_EVENT_TX_COMPLETE:
rt_hw_can_isr(&can_obj[CAN1_INDEX].can_dev, RT_CAN_EVENT_TX_DONE | p_args->mailbox << 8);
break;
case CAN_EVENT_RX_COMPLETE:
can_obj[CAN1_INDEX].callback_args = p_args;
if (p_args->event == CAN_EVENT_RX_COMPLETE)
rt_hw_can_isr(&can_obj[CAN1_INDEX].can_dev, RT_CAN_EVENT_RX_IND | p_args->mailbox << 8);
break;
case CAN_EVENT_TX_ABORTED:
rt_hw_can_isr(&can_obj[CAN1_INDEX].can_dev, RT_CAN_EVENT_TX_FAIL | p_args->mailbox << 8);
break;
case CAN_EVENT_MAILBOX_MESSAGE_LOST: //overwrite/overrun error event
case CAN_EVENT_BUS_RECOVERY: //Bus recovery error event
case CAN_EVENT_ERR_BUS_OFF: //error Bus Off event
case CAN_EVENT_ERR_PASSIVE: //error passive event
case CAN_EVENT_ERR_WARNING: //error warning event
case CAN_EVENT_ERR_BUS_LOCK: //error bus lock
case CAN_EVENT_ERR_CHANNEL: //error channel
case CAN_EVENT_ERR_GLOBAL: //error global
{
break;
}
}
rt_interrupt_leave();
}
#endif
int rt_hw_can_init(void)
{
rt_err_t result = 0;
rt_size_t obj_num = sizeof(can_obj) / sizeof(struct ra_can);
ra_can_get_config();
for (int i = 0; i < obj_num; i++)
{
/* init CAN object */
can_obj[i].config = &can_config[i];
can_obj[i].can_dev.ops = &ra_can_ops;
/* register CAN device */
result = rt_hw_can_register(&can_obj[i].can_dev, can_obj[i].config->name, can_obj[i].can_dev.ops, RT_NULL);
RT_ASSERT(result == RT_EOK);
}
return result;
}
INIT_BOARD_EXPORT(rt_hw_can_init);
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