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