The previous driver implementation aimed to maximize the amount of
filters, which resulted in a fairly complex implementation.
Background: The bxCAN assigns a number to the filters in the order they
appear in the filter banks. This number is used to match messages in
the FIFO with their filter. If the scale or mode of a filter bank is
changed, all following filter numbers get an offset and the assigned
callbacks have to be shifted accordingly.
The required additional space for the shifting operations resulted in
non-deterministic behaviour and the maximum number of filters could not
be determined at compile-time, which made several tests like
tests/drivers/can/api fail.
This implementation uses a more simple but reliable approach for
filtering and and reserves fixed space for extended and standard ID
filters in the available banks (configurable via Kconfig).
The list mode is not used, which may reduce the total number of usable
filters depending on the application.
The maximum amount of filters is 14 if all filters use ext. IDs,
28 if all use std IDs and something in between if mixed IDs are used.
Also see issue #47986 for more detailed background information.
Signed-off-by: Martin Jäger <martin@libre.solar>
Namespace local functions, enums, structs and defines with stm32/STM32
to distinguish them from global CAN API.
Also rename some internal conversion functions to make their meaning
more clear and delete unused defines.
Signed-off-by: Martin Jäger <martin@libre.solar>
Add ESP32 TWAI CAN controller driver. The TWAI is register-compatible with
the NXP SJA1000 CAN controller.
Signed-off-by: Henrik Brix Andersen <henrik@brixandersen.dk>
MISRA C:2012 Rule 14.4 (The controlling expression of an if statement
and the controlling expression of an iteration-statement shall have
essentially Boolean type.)
Use `do { ... } while (false)' instead of `do { ... } while (0)'.
Use comparisons with zero instead of implicitly testing integers.
The commit is a subset of the original auditable-branch commit:
5d02614e34a86b549c7707d3d9f0984bc3a5f22a
Signed-off-by: Simon Hein <SHein@baumer.com>
Update CAN drivers to use DT_HAS_<compat>_ENABLED Kconfig symbol to expose
the driver and enable it by default based on devicetree.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Check the frame ID type and RTR bit when comparing loopback CAN frames
against installed RX filters.
Fixes: #47904
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
When installing a RX filter, the driver uses "filter->rtr &
filter->rtr_mask" for setting the filter mask. It should just be using
filter->rtr_mask, otherwise filters for non-RTR frames will match RTR
frames as well.
When transmitting a RTR frame, the hardware automatically switches the
mailbox used for TX to RX in order to receive the reply. This, however,
does not match the Zephyr CAN driver model, where mailboxes are dedicated
to either RX or TX. Attempting to reuse the TX mailbox (which was
automatically switched to an RX mailbox by the hardware) fails on the first
call, after which the mailbox is reset and can be reused for TX. To
overcome this, the driver must abort the RX mailbox operation when the
hardware performs the TX to RX switch.
Fixes: #47902
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
The Bosch M_CAN IP does not support RX filtering of the RTR bit, so the
driver handles this bit in software.
If a recevied frame matches a filter with RTR enabled, the RTR bit of the
frame must match that of the filter in order to be passed to the RX
callback function. If the RTR bits do not match the frame must be dropped.
Improve the readability of the the logic for determining if a frame should
be dropped and add a missing FIFO acknowledge write for dropped frames.
Fixes: #47204
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Move the CAN bus network driver from drivers/can to drivers/net as it
implements a network driver, not a CAN controller driver.
Use a separate Kconfig for enabling the CAN bus network driver instead of
piggybacking on the SocketCAN Kconfig. This allows for other
(e.g. out-of-tree) SocketCAN transports.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Add API function for getting the supported capabilities of a CAN
controller. This allows for writing portable CAN applications.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Switch from using a driver-specific, compile-time devicetree one-shot
property to supporting the newly added CAN_MODE_ONE_SHOT flag for
enabling/disabling one-shot mode at run-time.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Fix issue #45168.
When setting high bit timing, the controller is timing
out when trying to switch from an internal mode to another.
To fix this issue, we add some delay when switching modes.
Signed-off-by: Aymeric Aillet <aymeric.aillet@iot.bzh>
Fix issue #45169.
With this CAN controller, changing bit timing has to be done in controller
reset mode, resetting some registers to their default values.
TCR register, that is enabling loopback mode is one of these.
Because of this reset, the controller switch back from loopback
to normal mode without the test suite being notified, preventing
receiving sent frames afterwards.
To fix this issue, we are now storing useful registers values before
switching to reset mode and restoring these values in halt mode
before going back in operation mode.
Signed-off-by: Aymeric Aillet <aymeric.aillet@iot.bzh>
CAN1 and CAN2 share the memory for the filter banks.
This commit adds an offset for filters installed for CAN2, allowing to
use both CAN instances simultaneously.
The hardware allows to freely split the avalable 28 filters between
CAN1 and CAN2. In order to simplify the driver implementation, it only
supports an equal split of 14 filters per instance. This is the same
amount of filters as available in MCUs with only a single CAN.
Signed-off-by: Martin Jäger <martin@libre.solar>
Remove two functions which were only called from one place and did
not improve readibility of the code.
Signed-off-by: Martin Jäger <martin@libre.solar>
This commit unifies the driver initialization for can1 and can2
instances so that a single macro can be used.
Enabling the master clock for can2 as introduced in 8ab81b02 had to
be moved to devicetree in order to have the same CAN_STM32_CONFIG_INST
macro for all instances.
Signed-off-by: Martin Jäger <martin@libre.solar>
the return is missing at the end of function which causes compilation
warning and block the build on github.
"warning: control reaches end of non-void function [-Wreturn-type]
92 | }| ^"
Signed-off-by: TLIG Dhaou <dhaou.tlig-ext@st.com>
The FDCAN clock was being enabled using HAL APIs instead of the generic
clock control API.
Signed-off-by: Gerard Marull-Paretas <gerard.marull@nordicsemi.no>
For devices with more than one CAN peripherals, CAN1 is the master and
its clock has to be enabled also if only CAN2 is used.
Signed-off-by: Martin Jäger <martin@libre.solar>
Assertions in can_mcan failed because the driver expects values
strictly greater than 0
Signed-off-by: Tomislav Milkovic <tomislav.milkovic95@gmail.com>
Add support for enabling/disabling CAN-FD frame transmission/reception at
run-time.
Fixes: #45303
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Convert the can_mode enum to a bit field to prepare for future extensions
(CAN-FD mode, transmitter delay compensation, one-shot mode, 3-samples
mode, ...).
Rename the existing modes:
- CAN_NORMAL_MODE -> CAN_MODE_NORMAL
- CAN_SILENT_MODE -> CAN_MODE_LISTENONLY
- CAN_LOOPBACK_MODE -> CAN_MODE_LOOPBACK
These mode names align with the Linux naming for CAN control modes.
The old CAN_SILENT_LOOPBACK_MODE can be set with the bitmask
(CAN_MODE_LISTENONLY | CAN_MODE_LOOPBACK).
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Rename the CAN data phase API functions to timing_data_* for consistency:
- can_get_timing_min_data() -> can_get_timing_data_min()
- can_get_timing_max_data() -> can_get_timing_data_max()
- .timing_min_data -> timing_data_min
- .timing_max_data -> timing_data_max
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Use the UPLLCK clock for the CAN controller as recommended by the Atmel SAM
E70 data sheet.
Move the configuration of the clock prescaler from Kconfig to devicetree
and limit it to the values recommended by the SAM E70 datasheet.
Fixes: #45012
Signed-off-by: Henrik Brix Andersen <henrik@brixandersen.dk>
In order to bring consistency in-tree, migrate all drivers to the new
prefix <zephyr/...>. Note that the conversion has been scripted, refer
to #45388 for more details.
Signed-off-by: Gerard Marull-Paretas <gerard.marull@nordicsemi.no>
The STM32u% series of processors has a unique set of clock sources for
the FDCAN peripheral. This brings the selection in line with the
existing can_stm32fd clock selection Kconfigs.
This change was tested on a proprietary board using the STM32U5 series
which exposes the CAN pins of the SOC using a transciever on a live CAN
bus as well as on the nucleo_g474re board from ST in loopback mode.
HSE and PLL1Q tests run and all passed.
PLL2P is not currently supported by the clock drivers for STM32U5, and
as such is currently untested. When this support is added, the driver
should be able to use this clock without issue.
When changes from #42097 are merged this fix should be deprecated in
favor of using the methods outlined there.
Signed-off-by: Peter Maxwell Warasila <madmaxwell@soundcomesout.com>
Refactor the Bosch M_CAN shared driver functions to get rid of the
front-end driver wrapper functions.
This requires flipping the relationship between shared config/data
structs and front-end config/data structs. Front-end drivers can now
store a pointer to their custom config/data structs in the .custom
fields of the can_mcan_config and can_mcan_data data structures.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Rename the private header file for the Bosch M_CAN shared driver code
from can_mcan_int.h to can_mcan_priv.h to follow the common naming
scheme.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Change the default initialization priority for CAN transceiver from 70 to
45 to initialize them before the CAN controllers (with default a
initialization priority of 50).
Fixes: #45219
Signed-off-by: Henrik Brix Andersen <henrik@brixandersen.dk>
Do not soft-reset device when changing timing parameters as the
soft-reset will discard the configured CAN controller mode.
Fixes: #44837
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Rename CONFIG_CAN_STM32_CLOCK_DIVISOR to
CONFIG_CAN_STM32FD_CLOCK_DIVISOR to match driver Kconfig name.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Add support for selecting the CAN clock source. Change previously
hardcoded value of PCLK1 to HSE.
Fixes: #44985
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Do not silently ignore attempts to set an unsupported mode. Return
-ENOTSUP instead.
Fixes: #44706
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Only add the filter ID offset for extended CAN-ID filters if the filter
was added successfully. Raise log level from info to warning if filter
addition failed but only log it once.
Fix bounds check for removing an extended CAN-ID filter.
Fixes: #44721
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Commit a50b69dfb7 introduced a work-around
for FlexCAN errata 5461 and 5829, but neglegted to take the RX mailbox
offset into account when calculating maximum number of mailboxes
allocated for RX/TX.
Fixes: #44724
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
