leon,grcan: added support for GRCANFD

The new GRCAN_FD IP supports CAN FD standard and is mostly backwards
compatible with GRCAN SW interface. The GRCAN driver have been extended
to support the GRCANFD IP using the same driver.

Additional functions have been added that uses a new CAN FD frame
format and read/write/baud-rate functions that supports both GRCANFD
and GRCAN. To keep the SW API fully backwards compatible with GRCAN,
the old functions remain.

Update #4324.

1 files changed, 124 insertions, 3 deletions

diff --git a/bsps/include/grlib/grcan.h b/bsps/include/grlib/grcan.h
index 3dc83bedde..a956bef124 100644
--- a/bsps/include/grlib/grcan.h
+++ b/bsps/include/grlib/grcan.h
@@ -40,7 +40,13 @@ struct grcan_regs {
 	volatile unsigned int smask;         /* 0x18 */
 	volatile unsigned int scode;         /* 0x1C */
 
-	volatile unsigned int dummy1[56];    /* 0x20-0xFC */
+	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 */
@@ -85,10 +91,18 @@ struct grcan_timing {
 	unsigned char scaler;
 	unsigned char ps1;
 	unsigned char ps2;
-	unsigned int  rsj;
+	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;
@@ -100,16 +114,34 @@ struct grcan_filter {
 	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; /* unused */
+	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,
@@ -169,6 +201,26 @@ enum grcan_state {
 #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
@@ -233,6 +285,15 @@ extern void *grcan_open_by_name(char *name, int *dev_no);
 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.
@@ -258,6 +319,31 @@ extern int grcan_read(
 );
 
 /*
+ * 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.
@@ -283,6 +369,31 @@ extern int grcan_write(
 );
 
 /*
+ * 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()
@@ -323,6 +434,16 @@ 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);