forked from Imagelibrary/rtems
33f6e34b2d
This patch changes the license to BSD-2 for all source files where the copyright is held by Aeroflex Gaisler, Cobham Gaisler, or Gaisler Research. Some files also includes copyright right statements from OAR and/or embedded Brains in addition to Gaisler. Updates #3053.
495 lines
15 KiB
C
495 lines
15 KiB
C
/* SPDX-License-Identifier: BSD-2-Clause */
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/**
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* @file
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* @ingroup can
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* @brief Driver API for the GRLIB GRCAN and GRCANFD controllers
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*/
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/*
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* COPYRIGHT (c) 2007.
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* Cobham Gaisler AB.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef __GRCAN_H__
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#define __GRCAN_H__
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/**
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* @defgroup can GRCAN
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*
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* @ingroup RTEMSBSPsSharedGRLIB
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*
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* @brief Macros used for grcan controller
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*
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* @{
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*/
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#include <stdint.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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struct grcan_regs {
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volatile unsigned int conf; /* 0x00 */
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volatile unsigned int stat; /* 0x04 */
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volatile unsigned int ctrl; /* 0x08 */
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volatile unsigned int dummy0[3]; /* 0x0C-0x014 */
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volatile unsigned int smask; /* 0x18 */
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volatile unsigned int scode; /* 0x1C */
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volatile unsigned int dummy1[8]; /* 0x20-0x3C */
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volatile unsigned int nbtr; /* 0x40 */
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volatile unsigned int fdbtr; /* 0x44 */
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volatile unsigned int tdelay; /* 0x48 */
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volatile unsigned int dummy1b[45]; /* 0x4C-0xFC */
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volatile unsigned int pimsr; /* 0x100 */
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volatile unsigned int pimr; /* 0x104 */
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volatile unsigned int pisr; /* 0x108 */
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volatile unsigned int pir; /* 0x10C */
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volatile unsigned int imr; /* 0x110 */
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volatile unsigned int picr; /* 0x114 */
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volatile unsigned int dummy2[58]; /* 0x118-0x1FC */
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volatile unsigned int tx0ctrl; /* 0x200 */
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volatile unsigned int tx0addr; /* 0x204 */
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volatile unsigned int tx0size; /* 0x208 */
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volatile unsigned int tx0wr; /* 0x20C */
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volatile unsigned int tx0rd; /* 0x210 */
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volatile unsigned int tx0irq; /* 0x214 */
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volatile unsigned int dummy3[58]; /* 0x218-0x2FC */
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volatile unsigned int rx0ctrl; /* 0x300 */
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volatile unsigned int rx0addr; /* 0x304 */
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volatile unsigned int rx0size; /* 0x308 */
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volatile unsigned int rx0wr; /* 0x30C */
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volatile unsigned int rx0rd; /* 0x310 */
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volatile unsigned int rx0irq; /* 0x314 */
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volatile unsigned int rx0mask; /* 0x318 */
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volatile unsigned int rx0code; /* 0x31C */
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};
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struct grcan_stats {
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unsigned int passive_cnt;
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unsigned int overrun_cnt;
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unsigned int rxsync_cnt;
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unsigned int txsync_cnt;
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unsigned int txloss_cnt;
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unsigned int ahberr_cnt;
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unsigned int ints;
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unsigned int busoff_cnt;
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};
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struct grcan_timing {
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unsigned char scaler;
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unsigned char ps1;
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unsigned char ps2;
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unsigned char rsj;
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unsigned char bpr;
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};
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struct grcanfd_timing {
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unsigned char scaler;
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unsigned char ps1;
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unsigned char ps2;
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unsigned char sjw;
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unsigned char resv_zero;
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};
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struct grcan_selection {
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int selection;
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int enable0;
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int enable1;
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};
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struct grcan_filter {
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unsigned long long mask;
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unsigned long long code;
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};
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#define GRCAN_FDOPT_NOM 0
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#define GRCAN_FDOPT_FDBTR 0x01
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#define GRCAN_FDOPT_FDFRM 0x02
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#define GRCAN_FDMASK (GRCAN_FDOPT_FDBTR | GRCAN_FDOPT_FDFRM)
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/* CAN MESSAGE */
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typedef struct {
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char extended; /* 1= Extended Frame (29-bit id), 0= STD Frame (11-bit id) */
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char rtr; /* RTR - Remote Transmission Request */
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char unused; /* Must be 0 to select classic CAN frame */
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unsigned char len;
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unsigned char data[8];
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unsigned int id;
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} CANMsg;
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/* CAN-FD MESSAGE */
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typedef struct {
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uint8_t extended; /* 1= Extended Frame (29-bit id), 0= STD Frame (11-bit id) */
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uint8_t rtr; /* RTR - Remote Transmission Request */
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uint8_t fdopts; /* Bit1: 1=Switch bit rate. bit2: 1=FD frame. */
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uint8_t len; /* 0-8, 12, 16, 20, 24, 32, 48 or 64 bytes */
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uint32_t id;
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union {
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uint64_t dwords[8]; /* up to 64 bytes if FD=1 and len>8 */
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uint8_t bytes[64]; /* up to 64 bytes if FD=1 and len>8 */
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} data;
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} CANFDMsg;
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enum {
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GRCAN_RET_OK = 0,
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GRCAN_RET_INVARG = -1,
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GRCAN_RET_NOTSTARTED = -2,
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GRCAN_RET_TIMEOUT = -3,
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/* Bus-off condition detected (request aborted by driver) */
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GRCAN_RET_BUSOFF = -4,
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/* AHB error condition detected (request aborted by driver) */
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GRCAN_RET_AHBERR = -5,
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};
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/*
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* User functions can cause these transitions:
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* STATE_STOPPED -> STATE_STARTED
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* STATE_STARTED -> STATE_STOPPED
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* STATE_BUSOFF -> STATE_STOPPED
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* STATE_AHBERR -> STATE_STOPPED
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*
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* ISR can cause these transition
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* STATE_STARTED -> STATE_BUSOFF
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* STATE_STARTED -> STATE_AHBERR
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*
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* STATE_BUSOFF is entered from ISR on bus-off condition. STATE_AHBERR is
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* entered from ISR on AHB DMA errors on RX/TX operations. At transition the ISR
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* disables DMA, masks all interrupts and releases semaphores.
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*/
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enum grcan_state {
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STATE_STOPPED = 0,
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STATE_STARTED = 1,
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STATE_BUSOFF = 2,
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STATE_AHBERR = 3,
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};
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#define GRCAN_CFG_ABORT 0x00000001
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#define GRCAN_CFG_ENABLE0 0x00000002
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#define GRCAN_CFG_ENABLE1 0x00000004
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#define GRCAN_CFG_SELECTION 0x00000008
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#define GRCAN_CFG_SILENT 0x00000010
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#define GRCAN_CFG_BPR 0x00000300
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#define GRCAN_CFG_RSJ 0x00007000
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#define GRCAN_CFG_PS1 0x00f00000
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#define GRCAN_CFG_PS2 0x000f0000
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#define GRCAN_CFG_SCALER 0xff000000
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#define GRCAN_CFG_BPR_BIT 8
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#define GRCAN_CFG_RSJ_BIT 12
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#define GRCAN_CFG_PS1_BIT 20
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#define GRCAN_CFG_PS2_BIT 16
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#define GRCAN_CFG_SCALER_BIT 24
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#define GRCAN_CTRL_RESET 0x2
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#define GRCAN_CTRL_ENABLE 0x1
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#define GRCAN_TXCTRL_ENABLE 1
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#define GRCAN_TXCTRL_ONGOING 1
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#define GRCAN_RXCTRL_ENABLE 1
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#define GRCAN_RXCTRL_ONGOING 1
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#define GRCANFD_NBTR_SCALER 0x00ff0000
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#define GRCANFD_NBTR_PS1 0x0000fc00
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#define GRCANFD_NBTR_PS2 0x000003e0
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#define GRCANFD_NBTR_SJW 0x0000001f
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#define GRCANFD_NBTR_SCALER_BIT 16
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#define GRCANFD_NBTR_PS1_BIT 10
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#define GRCANFD_NBTR_PS2_BIT 5
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#define GRCANFD_NBTR_SJW_BIT 0
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#define GRCANFD_FDBTR_SCALER 0x00ff0000
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#define GRCANFD_FDBTR_PS1 0x00003c00
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#define GRCANFD_FDBTR_PS2 0x000001e0
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#define GRCANFD_FDBTR_SJW 0x0000000f
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#define GRCANFD_FDBTR_SCALER_BIT 16
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#define GRCANFD_FDBTR_PS1_BIT 10
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#define GRCANFD_FDBTR_PS2_BIT 5
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#define GRCANFD_FDBTR_SJW_BIT 0
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/* Relative offset of IRQ sources to AMBA Plug&Play */
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#define GRCAN_IRQ_IRQ 0
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#define GRCAN_IRQ_TXSYNC 1
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#define GRCAN_IRQ_RXSYNC 2
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#define GRCAN_ERR_IRQ 0x1
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#define GRCAN_OFF_IRQ 0x2
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#define GRCAN_OR_IRQ 0x4
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#define GRCAN_RXAHBERR_IRQ 0x8
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#define GRCAN_TXAHBERR_IRQ 0x10
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#define GRCAN_RXIRQ_IRQ 0x20
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#define GRCAN_TXIRQ_IRQ 0x40
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#define GRCAN_RXFULL_IRQ 0x80
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#define GRCAN_TXEMPTY_IRQ 0x100
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#define GRCAN_RX_IRQ 0x200
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#define GRCAN_TX_IRQ 0x400
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#define GRCAN_RXSYNC_IRQ 0x800
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#define GRCAN_TXSYNC_IRQ 0x1000
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#define GRCAN_RXERR_IRQ 0x2000
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#define GRCAN_TXERR_IRQ 0x4000
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#define GRCAN_RXMISS_IRQ 0x8000
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#define GRCAN_TXLOSS_IRQ 0x10000
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#define GRCAN_STAT_PASS 0x1
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#define GRCAN_STAT_OFF 0x2
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#define GRCAN_STAT_OR 0x4
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#define GRCAN_STAT_AHBERR 0x8
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#define GRCAN_STAT_ACTIVE 0x10
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#define GRCAN_STAT_RXERRCNT 0xff00
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#define GRCAN_STAT_TXERRCNT 0xff0000
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/*
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* Return number of GRCAN devices available to driver
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*/
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extern int grcan_dev_count(void);
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/*
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* Open a GRCAN device
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*
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* dev_no: Device number to open
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* return: Device handle to use with all other grcan_ API functions. The
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* function returns NULL if device can not be opened.
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*/
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extern void *grcan_open(int dev_no);
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/*
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* Open a GRCAN device by name. Finds device index then calls
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* grcan_open(index).
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*
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* name: Device name to open
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* dev_no: Device number matching name. Will be set if device found.
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* return: Device handle to use with all other grcan_ API functions. The
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* function returns NULL if device can not be opened or not found.
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*/
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extern void *grcan_open_by_name(char *name, int *dev_no);
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/*
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* Close a GRCAN device
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*
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* return: This function always returns 0 (success)
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*/
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extern int grcan_close(void *d);
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/*
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* Returns if CAN hardware device is CANFD capable.
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*
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* dev_no: Device handle
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* return: 0=Not FD capable, 1=FD capable.
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* function returns NULL if device can not be opened.
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*/
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extern int grcan_canfd_capable(void *d);
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/*
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* Receive CAN messages
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*
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* Multiple CAN messages can be received in one call.
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*
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* d: Device handle
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* msg: Pointer to receive messages
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* count: Number of CAN messages to receive
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*
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* return:
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* >=0: Number of CAN messages received. This can be
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* less than the count parameter.
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* GRCAN_RET_INVARG: count parameter less than one or NULL msg.
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* GRCAN_RET_NOTSTARTED: Device not in started mode
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* GRCAN_RET_TIMEOUT: Timeout in non-blocking mode
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* GRCAN_RET_BUSOFF: A read was interrupted by a bus-off error.
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* Device has left started mode.
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* GRCAN_RET_AHBERR: Similar to BUSOFF, but was caused by AHB Error.
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*/
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extern int grcan_read(
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void *d,
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CANMsg *msg,
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size_t count
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);
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/*
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* Receive CAN messages (only GRCANFD)
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*
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* Multiple CAN messages can be received in one call.
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*
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* d: Device handle
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* msg: Pointer to receive messages
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* count: Number of CAN messages to receive
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*
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* return:
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* >=0: Number of CAN messages received. This can be
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* less than the count parameter.
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* GRCAN_RET_INVARG: count parameter less than one or NULL msg.
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* GRCAN_RET_NOTSTARTED: Device not in started mode
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* GRCAN_RET_TIMEOUT: Timeout in non-blocking mode
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* GRCAN_RET_BUSOFF: A read was interrupted by a bus-off error.
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* Device has left started mode.
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* GRCAN_RET_AHBERR: Similar to BUSOFF, but was caused by AHB Error.
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*/
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extern int grcanfd_read(
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void *d,
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CANFDMsg *msg,
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size_t count
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);
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/*
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* Transmit CAN messages
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*
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* Multiple CAN messages can be transmit in one call.
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*
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* d: Device handle
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* msg: Pointer to messages to transmit
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* count: Number of CAN messages to transmit
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*
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* return:
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* >=0: Number of CAN messages transmitted. This can be
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* less than the count parameter.
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* GRCAN_RET_INVARG: count parameter less than one.
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* GRCAN_RET_NOTSTARTED: Device not in started mode
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* GRCAN_RET_TIMEOUT: Timeout in non-blocking mode
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* GRCAN_RET_BUSOFF: A write was interrupted by a Bus-off error.
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* Device has left started mode
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* GRCAN_RET_AHBERR: Similar to BUSOFF, but was caused by AHB Error.
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*/
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extern int grcan_write(
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void *d,
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CANMsg *msg,
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size_t count
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);
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/*
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* Transmit CAN-FD complient messages (only GRCANFD)
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*
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* Multiple CAN messages can be transmit in one call.
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*
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* d: Device handle
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* msg: Pointer to messages to transmit
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* count: Number of CAN messages to transmit
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*
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* return:
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* >=0: Number of CAN messages transmitted. This can be
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* less than the count parameter.
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* GRCAN_RET_INVARG: count parameter less than one.
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* GRCAN_RET_NOTSTARTED: Device not in started mode
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* GRCAN_RET_TIMEOUT: Timeout in non-blocking mode
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* GRCAN_RET_BUSOFF: A write was interrupted by a Bus-off error.
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* Device has left started mode
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* GRCAN_RET_AHBERR: Similar to BUSOFF, but was caused by AHB Error.
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*/
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extern int grcanfd_write(
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void *d,
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CANFDMsg *msg,
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size_t ucount
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);
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/*
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* Returns current GRCAN software state
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*
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* If STATE_BUSOFF or STATE_AHBERR is returned then the function grcan_stop()
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* shall be called before continue using the driver.
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*
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* d: Device handle
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* return:
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* STATE_STOPPED Stopped
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* STATE_STARTED Started
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* STATE_BUSOFF Bus-off has been detected
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* STATE_AHBERR AHB error has been detected
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*/
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extern int grcan_get_state(void *d);
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/* The remaining functions return 0 on success and non-zero on failure. */
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/* Functions controlling operational
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* mode
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*/
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/* Bring the link up after open or bus-off */
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extern int grcan_start(void *d);
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/* stop to change baud rate/config or closing down */
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extern int grcan_stop(void *d);
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/* Wait until all TX messages have been sent */
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extern int grcan_flush(void *d);
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/* Functions that require connection
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* to be stopped
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*/
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/* enable silent mode read only state */
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extern int grcan_set_silent(void *d, int silent);
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/* enable/disable stopping link on AHB Error */
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extern int grcan_set_abort(void *d, int abort);
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/* Set Enable0,Enable1,Selection */
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extern int grcan_set_selection(void *d, const struct grcan_selection *selection);
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/* Set baudrate by using driver's baud rate timing calculation routines */
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extern int grcan_set_speed(void *d, unsigned int hz);
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/* Set baudrate by specifying the timing registers manually */
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extern int grcan_set_btrs(void *d, const struct grcan_timing *timing);
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/* Set the Nominal and FD baudrate by using driver's baud rate timing
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* calculation routines
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*/
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extern int grcanfd_set_speed(void *d, unsigned int nomhz, unsigned int fdhz);
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/* Set Nominal and FD baudrate by specifying the timing registers manually*/
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extern int grcanfd_set_btrs(
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void *d,
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const struct grcanfd_timing *nominal,
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const struct grcanfd_timing *fd);
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/* Functions can be called whenever */
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/* Enable/disable Blocking on reception (until at least one message has been received) */
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int grcan_set_rxblock(void* d, int block);
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/* Enable/disable Blocking on transmission (until at least one message has been transmitted) */
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int grcan_set_txblock(void* d, int block);
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/* Enable/disable Blocking until all requested messages has been sent */
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int grcan_set_txcomplete(void* d, int complete);
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/* Enable/disable Blocking until all requested has been received */
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int grcan_set_rxcomplete(void* d, int complete);
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/* Get statistics */
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extern int grcan_get_stats(void *d, struct grcan_stats *stats);
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/* Clear statistics */
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extern int grcan_clr_stats(void *d);
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/* Set Acceptance filters, provide pointer to "struct grcan_filter" or NULL to disable filtering (let all messages pass) */
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extern int grcan_set_afilter(void *d, const struct grcan_filter *filter);
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/* Set Sync Messages RX/TX filters, NULL disables the IRQ completely */
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extern int grcan_set_sfilter(void *d, const struct grcan_filter *filter);
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/* Get status register of GRCAN core */
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extern int grcan_get_status(void *d, unsigned int *status);
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void grcan_register_drv(void);
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#ifdef __cplusplus
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}
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#endif
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/** @} */
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#endif
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