haitomatic commented on code in PR #17161: URL: https://github.com/apache/nuttx/pull/17161#discussion_r2435217679
########## arch/risc-v/src/mpfs/mpfs_can.c: ########## @@ -0,0 +1,2923 @@ +/**************************************************************************** + * arch/risc-v/src/mpfs/mpfs_can.c + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> + +#include <sys/time.h> +#include <inttypes.h> +#include <stdint.h> +#include <stdbool.h> +#include <stdlib.h> +#include <stdio.h> +#include <unistd.h> +#include <time.h> +#include <string.h> +#include <debug.h> +#include <errno.h> + +#include <nuttx/can.h> +#include <nuttx/wdog.h> +#include <nuttx/irq.h> +#include <nuttx/arch.h> +#include <nuttx/wqueue.h> +#include <nuttx/signal.h> +#include <nuttx/net/netdev.h> +#include <nuttx/net/can.h> +#include <nuttx/can/can.h> + +#include <arch/board/board.h> + +#include "mpfs_can.h" +#include "riscv_internal.h" +#include "mpfs_memorymap.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#ifndef CONFIG_MPFS_MSS_CAN +# error This should not be compiled if MSS CAN block is not enabled +#endif + +/* CAN 0 and 1 register base definition */ + +#define CAN0_BASE MPFS_CAN0_LO_BASE +#define CAN1_BASE MPFS_CAN1_LO_BASE + +/* High level driver operational configuration */ + +#define CANWORK HPWORK + +/* For allocating the tx and rx CAN frame buffer */ + +#define POOL_SIZE 1 +#define TIMESTAMP_SIZE sizeof(struct timeval) /* support timestamping frame */ + +/* MSS CAN TX/RX buffer configuration */ + +#define CAN_RX_BUFFER 32 +#define CAN_TX_BUFFER 32 +#define CAN_RX_BUFFER_CTRL_DEFAULT MPFS_CAN_RX_MSG_CTRL_CMD_WPNH \ + | MPFS_CAN_RX_MSG_CTRL_CMD_WPNL \ + | MPFS_CAN_RX_MSG_CTRL_CMD_RX_BUFFER_EBL \ + | MPFS_CAN_RX_MSG_CTRL_CMD_RX_INT_ENABLE + +/* MSS CAN Configuration and Speed definitions */ + +#define CAN_SAMPLE_BOTH_EDGES MPFS_CAN_CAN_CONFIG_EDGE_MODE +#define CAN_THREE_SAMPLES MPFS_CAN_CAN_CONFIG_SAMPLING_MODE +#define CAN_SET_SJW(_sjw) (_sjw << MPFS_CAN_CAN_CONFIG_CFG_SJW_SHIFT) +#define CAN_AUTO_RESTART MPFS_CAN_CAN_CONFIG_AUTO_RESTART +#define CAN_SET_TSEG2(_tseg2) (_tseg2 << MPFS_CAN_CAN_CONFIG_CFG_TSEG2_SHIFT) +#define CAN_SET_TSEG1(_tseg1) (_tseg1 << MPFS_CAN_CAN_CONFIG_CFG_TSEG1_SHIFT) +#define CAN_SET_BITRATE(_br) (_br << MPFS_CAN_CAN_CONFIG_CFG_BITRATE_SHIFT) +#define CAN_ARB_FIXED_PRIO MPFS_CAN_CAN_CONFIG_CFG_ARBITER +#define CAN_LITTLE_ENDIAN MPFS_CAN_CAN_CONFIG_SWAP_ENDIAN + +/* The following constants are used in the PolarFire SoC MSS CAN driver for + * bitrate definitions: + * + * | Constants | Description | + * |--------------------|---------------------------------------------------| + * | CAN_SPEED_8M_5K | Indicates CAN controller shall be configured with | + * | | 5Kbps baud rate if the input clock is 8MHz. | + * | CAN_SPEED_16M_5K | Indicates CAN controller shall be configured with | + * | | 5Kbps baud rate if the input clock is 16MHz. | + * | CAN_SPEED_32M_5K | Indicates CAN controller shall be configured with | + * | | 5Kbps baud rate if the input clock is 32MHz. | + * | CAN_SPEED_8M_10K | Indicates CAN controller shall be configured with | + * | | 10Kbps baud rate if the input clock is 8MHz. | + * | CAN_SPEED_16M_10K | Indicates CAN controller shall be configured with | + * | | 10Kbps baud rate if the input clock is 16MHz. | + * | CAN_SPEED_32M_10K | Indicates CAN controller shall be configured with | + * | | 10Kbps baud rate if the input clock is 32MHz. | + * | CAN_SPEED_8M_20K | Indicates CAN controller shall be configured with | + * | | 20Kbps baud rate if the input clock is 8MHz. | + * | CAN_SPEED_16M_20K | Indicates CAN controller shall be configured with | + * | | 20Kbps baud rate if the input clock is 16MHz. | + * | CAN_SPEED_32M_20K | Indicates CAN controller shall be configured with | + * | | 20Kbps baud rate if the input clock is 32MHz. | + * | CAN_SPEED_8M_50K | Indicates CAN controller shall be configured with | + * | | 50Kbps baud rate if the input clock is 8MHz. | + * | CAN_SPEED_16M_50K | Indicates CAN controller shall be configured with | + * | | 50Kbps baud rate if the input clock is 16MHz. | + * | CAN_SPEED_32M_50K | Indicates CAN controller shall be configured with | + * | | 50Kbps baud rate if the input clock is 32MHz. | + * | CAN_SPEED_8M_100K | Indicates CAN controller shall be configured with | + * | | 100Kbps baud rate if the input clock is 8MHz. | + * | CAN_SPEED_16M_100K | Indicates CAN controller shall be configured with | + * | | 100Kbps baud rate if the input clock is 16MHz. | + * | CAN_SPEED_32M_100K | Indicates CAN controller shall be configured with | + * | | 100Kbps baud rate if the input clock is 32MHz. | + * | CAN_SPEED_8M_125K | Indicates CAN controller shall be configured with | + * | | 125Kbps baud rate if the input clock is 8MHz. | + * | CAN_SPEED_16M_125K | Indicates CAN controller shall be configured with | + * | | 125Kbps baud rate if the input clock is 16MHz. | + * | CAN_SPEED_32M_125K | Indicates CAN controller shall be configured with | + * | | 125Kbps baud rate if the input clock is 32MHz. | + * | CAN_SPEED_8M_250K | Indicates CAN controller shall be configured with | + * | | 250Kbps baud rate if the input clock is 8MHz. | + * | CAN_SPEED_16M_250K | Indicates CAN controller shall be configured with | + * | | 250Kbps baud rate if the input clock is 16MHz. | + * | CAN_SPEED_32M_250K | Indicates CAN controller shall be configured with | + * | | 250Kbps baud rate if the input clock is 32MHz. | + * | CAN_SPEED_8M_500K | Indicates CAN controller shall be configured with | + * | | 500Kbps baud rate if the input clock is 8MHz. | + * | CAN_SPEED_16M_500K | Indicates CAN controller shall be configured with | + * | | 500Kbps baud rate if the input clock is 16MHz. | + * | CAN_SPEED_32M_500K | Indicates CAN controller shall be configured with | + * | | 500Kbps baud rate if the input clock is 32MHz. | + * | CAN_SPEED_8M_1M | Indicates CAN controller shall be configured with | + * | | 1MBPS baud rate if the input clock is 8MHz. | + * | CAN_SPEED_16M_1M | Indicates CAN controller shall be configured with | + * | | 1MBPS baud rate if the input clock is 16MHz. | + * | CAN_SPEED_32M_1M | Indicates CAN controller shall be configured with | + * | | 1MBPS baud rate if the input clock is 32MHz. | + */ + +/* 5000m 81% Sample bit three times */ + +#define CAN_SPEED_8M_5K CAN_SET_BITRATE(99)|CAN_SET_TSEG1(11) \ + |CAN_SET_TSEG2(2)|CAN_THREE_SAMPLES +#define CAN_SPEED_16M_5K CAN_SET_BITRATE(199)|CAN_SET_TSEG1(11) \ + |CAN_SET_TSEG2(2)|CAN_THREE_SAMPLES +#define CAN_SPEED_32M_5K CAN_SET_BITRATE(399)|CAN_SET_TSEG1(11) \ + |CAN_SET_TSEG2(2)|CAN_THREE_SAMPLES + +/* 5000m 81% Sample bit three times */ + +#define CAN_SPEED_8M_10K CAN_SET_BITRATE(49)|CAN_SET_TSEG1(11) \ + |CAN_SET_TSEG2(2)|CAN_THREE_SAMPLES +#define CAN_SPEED_16M_10K CAN_SET_BITRATE(99)|CAN_SET_TSEG1(11) \ + |CAN_SET_TSEG2(2)|CAN_THREE_SAMPLES +#define CAN_SPEED_32M_10K CAN_SET_BITRATE(199)|CAN_SET_TSEG1(11) \ + |CAN_SET_TSEG2(2)|CAN_THREE_SAMPLES + +/* 2500m 81% Sample bit three times */ + +#define CAN_SPEED_8M_20K CAN_SET_BITRATE(24)|CAN_SET_TSEG1(11) \ + |CAN_SET_TSEG2(2)|CAN_THREE_SAMPLES +#define CAN_SPEED_16M_20K CAN_SET_BITRATE(49)|CAN_SET_TSEG1(11) \ + |CAN_SET_TSEG2(2)|CAN_THREE_SAMPLES +#define CAN_SPEED_32M_20K CAN_SET_BITRATE(99)|CAN_SET_TSEG1(11) \ + |CAN_SET_TSEG2(2)|CAN_THREE_SAMPLES + +/* 1000m 87% */ + +#define CAN_SPEED_8M_50K CAN_SET_BITRATE(9)|CAN_SET_TSEG1(12) \ + |CAN_SET_TSEG2(1) +#define CAN_SPEED_16M_50K CAN_SET_BITRATE(19)|CAN_SET_TSEG1(12) \ + |CAN_SET_TSEG2(1) +#define CAN_SPEED_32M_50K CAN_SET_BITRATE(39)|CAN_SET_TSEG1(12) \ + |CAN_SET_TSEG2(1) + +/* 600m 87% */ + +#define CAN_SPEED_8M_100K CAN_SET_BITRATE(4)|CAN_SET_TSEG1(12) \ + |CAN_SET_TSEG2(1) +#define CAN_SPEED_16M_100K CAN_SET_BITRATE(9)|CAN_SET_TSEG1(12) \ + |CAN_SET_TSEG2(1) +#define CAN_SPEED_32M_100K CAN_SET_BITRATE(19)|CAN_SET_TSEG1(12) \ + |CAN_SET_TSEG2(1) + +/* 500m 87% */ + +#define CAN_SPEED_8M_125K CAN_SET_BITRATE(3)|CAN_SET_TSEG1(12) \ + |CAN_SET_TSEG2(1) +#define CAN_SPEED_16M_125K CAN_SET_BITRATE(7)|CAN_SET_TSEG1(12) \ + |CAN_SET_TSEG2(1) +#define CAN_SPEED_32M_125K CAN_SET_BITRATE(15)|CAN_SET_TSEG1(12) \ + |CAN_SET_TSEG2(1) + +/* 250m 87% */ + +#define CAN_SPEED_8M_250K CAN_SET_BITRATE(1)|CAN_SET_TSEG1(12) \ + |CAN_SET_TSEG2(1) +#define CAN_SPEED_16M_250K CAN_SET_BITRATE(3)|CAN_SET_TSEG1(12) \ + |CAN_SET_TSEG2(1) +#define CAN_SPEED_32M_250K CAN_SET_BITRATE(7)|CAN_SET_TSEG1(12) \ + |CAN_SET_TSEG2(1) + +/* 100m 75% @ 8M, 87% @ 16M */ + +#define CAN_SPEED_8M_500K CAN_SET_BITRATE(1)|CAN_SET_TSEG1(4) \ + |CAN_SET_TSEG2(1) +#define CAN_SPEED_16M_500K CAN_SET_BITRATE(1)|CAN_SET_TSEG1(12) \ + |CAN_SET_TSEG2(1) +#define CAN_SPEED_32M_500K CAN_SET_BITRATE(3)|CAN_SET_TSEG1(12) \ + |CAN_SET_TSEG2(1) + +/* 25m 75% */ +#define CAN_SPEED_8M_1M CAN_SET_BITRATE(0)|CAN_SET_TSEG1(4) \ + |CAN_SET_TSEG2(1) +#define CAN_SPEED_16M_1M CAN_SET_BITRATE(1)|CAN_SET_TSEG1(4) \ + |CAN_SET_TSEG2(1) +#define CAN_SPEED_32M_1M CAN_SET_BITRATE(3)|CAN_SET_TSEG1(4) \ + |CAN_SET_TSEG2(1) + +/* The following constants are used for error codes: + * + * | Constants | Description | + * |-----------------------|---------------------------------------------| + * | CAN_OK | Indicates there is no error | + * | CAN_ERR | Indicates error condition | + * | CAN_TSEG1_TOO_SMALL | Value provided to configure TSEG1 is too | + * | | small | + * | CAN_TSEG2_TOO_SMALL | Value provided to configure TSEG2 is too | + * | | small | + * | CAN_SJW_TOO_BIG | Value provided to configure synchronous jump| + * | | width (SJW) is too big. | + * | CAN_BASIC_CAN_BUFFER | Indicates that buffer is configured for | + * | | Basic CAN operation | + * | CAN_NO_RTR_BUFFER | Indicates that there is no buffer for | + * | | remote transmit request (RTR) frame | + * | CAN_INVALID_BUFFER | Indicates invalid buffer number | + * | CAN_NO_MSG | Indicates no message available | + * | CAN_VALID_MSG | Indicates message is valid | + */ + +#define CAN_OK 0 +#define CAN_ERR 1 +#define CAN_TSEG1_TOO_SMALL 2 +#define CAN_TSEG2_TOO_SMALL 3 +#define CAN_SJW_TOO_BIG 4 +#define CAN_BASIC_CAN_BUFFER 5 +#define CAN_NO_RTR_BUFFER 6 +#define CAN_INVALID_BUFFER 7 +#define CAN_NO_MSG 8 +#define CAN_VALID_MSG 0 + +/**************************************************************************** + * Utility definitions + ****************************************************************************/ + +#define print_uint32_t(prefix, val) do { \ + const char p_str[] = prefix; \ + /* prefix + " 0b" + 32 bits + null terminator */ \ + char binary_str[sizeof(p_str) + 2 + 32 + 1]; \ + sprintf(binary_str, "%s 0b", p_str); \ + for (int i = 31; i >= 0; i--) { \ + sprintf(binary_str + strlen(binary_str), "%d", ((val) >> i) & 1); \ + } \ + caninfo("%s", binary_str); \ +} while (0) + +#if __GNUC__ >= 3 Review Comment: actually this part was a left over from a refactor previously and it's now not needed. 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