1 files changed, 104 insertions, 0 deletions
diff --git a/bsps/arm/beagle/dcan/am335x-dcan.c b/bsps/arm/beagle/dcan/am335x-dcan.c
new file mode 100644
index 0000000000..f4bb717e1d
--- /dev/null
+++ b/bsps/arm/beagle/dcan/am335x-dcan.c
@@ -0,0 +1,104 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+
+/**
+ * @file
+ *
+ * @ingroup CANBus
+ *
+ * @brief Controller Area Network (CAN) Bus Implementation
+ *
+ */
+
+/*
+ * Copyright (C) 2022 Prashanth S (fishesprashanth@gmail.com)
+ *
+ * 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.
+ */
+
+#include <dev/can/can.h>
+
+#include <bsp/am335x_dcan.h>
+#include <bsp/soc_AM335x.h>
+
+#define IF_NAME_SIZE_MAX  (12)
+
+void beagle_can_init(void *node)
+{
+  /* FIXME: Remove this method, Check if the device node belongs to CAN
+   * Will be removed once device tree support is added
+   */
+  static int init = 0;
+
+  if (init != 0) {
+    return;
+  }
+
+  init = 1;
+
+  CAN_DEBUG("beagle_can_init\n");
+
+  char if_name[IF_NAME_SIZE_MAX];
+
+  struct am335x_dcan_priv *priv = NULL;
+
+  /* FIXME: Get hardware specific information from device tree */
+  struct am335x_dcan_irq dcan_irq_nums[2] = {{52, 53, 54}, {55, 56, 57}};
+  uint32_t dcan_base_reg_addr[] = {SOC_DCAN_0_REGS, SOC_DCAN_1_REGS};
+
+  for (int i = 0; i < CAN_NODES; i++) {
+    priv = (struct am335x_dcan_priv *)calloc(1, sizeof(struct am335x_dcan_priv));
+
+    if (priv == NULL) {
+      CAN_ERR("beagle_can_init: calloc failed: cannot allocate memory\n");
+      return;
+    }
+
+    /* FIXME: Get hardware specific information from device tree */
+    priv->node = i;
+    priv->base_reg = dcan_base_reg_addr[i];
+    priv->irq = dcan_irq_nums[i];
+    priv->baudrate = 1000000;
+
+    if (dcan_init(priv) < 0) {
+      CAN_ERR("beagle_can_init: CAN controller %d initialization failed\n", priv->node);
+      free(priv);
+      continue;
+    }
+
+    struct can_bus *bus = can_bus_alloc_and_init(sizeof(struct can_bus));
+
+    priv->bus = bus;
+
+    snprintf(if_name, IF_NAME_SIZE_MAX, "/dev/can%d", i);
+
+    bus->priv = priv;
+    dcan_init_ops(priv);
+
+    if (can_bus_register(bus, if_name) != 0) {
+      CAN_ERR("beagle_can_init: bus register failed\n");
+      free(priv);
+      return;
+    }
+
+    CAN_DEBUG("beagle_can_init: can_bus_registered %s\n", if_name);
+  }
+}