diff options
Diffstat (limited to 'bsps/arm/beagle/include/bsp/am335x_dcan.h')
| -rw-r--r-- | bsps/arm/beagle/include/bsp/am335x_dcan.h | 106 |
1 files changed, 106 insertions, 0 deletions
diff --git a/bsps/arm/beagle/include/bsp/am335x_dcan.h b/bsps/arm/beagle/include/bsp/am335x_dcan.h new file mode 100644 index 0000000000..c83f3a91ab --- /dev/null +++ b/bsps/arm/beagle/include/bsp/am335x_dcan.h @@ -0,0 +1,106 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ + +/** + * @file + * + * @ingroup CANBus + * + * @brief Controller Area Network (DCAN) Controller 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. + */ + +#ifndef _BSP_AM335X_CAN_H +#define _BSP_AM335X_CAN_H + +#include <stdio.h> + +#include <dev/can/can.h> +#include <bsp.h> + +#define CAN_NODES 2 + +#define CAN_NUM_OF_MSG_OBJS (0x40) +#define CAN_RX_MSG_OBJ_NUM (0x20) +#define CAN_TX_MSG_OBJ_NUM (0x20) + +#define CAN_EXT_MSG (0x00000001) + +#define CAN_TX_MSG_OBJ_START_NUM ((CAN_NUM_OF_MSG_OBJS / 2) + 1) +#define CAN_TX_MSG_OBJ_END_NUM (CAN_NUM_OF_MSG_OBJS) + +#define CAN_RX_MSG_OBJ_START_NUM (1) +#define CAN_RX_MSG_OBJ_END_NUM (CAN_NUM_OF_MSG_OBJS / 2) + +#define DCAN_IFCMD_MSG_NUM_SHIFT (0) /* Bits 0-7: Number of message object in message RAM which is used for data transfer */ +#define DCAN_IFCMD_MSG_NUM_MASK (0xff << DCAN_IFCMD_MSG_NUM_SHIFT) +#define DCAN_IFCMD_MSG_NUM(n) (((unsigned int)(n) & DCAN_IFCMD_MSG_NUM_MASK) << DCAN_IFCMD_MSG_NUM_SHIFT) + +#define CONTROL_STATUS_SYSBOOT1_MASK (3 << CONTROL_STATUS_SYSBOOT1_SHIFT) +#define CONTROL_STATUS_SYSBOOT1_19p2MHZ (0 << CONTROL_STATUS_SYSBOOT1_SHIFT) +#define CONTROL_STATUS_SYSBOOT1_24MHZ (1 << CONTROL_STATUS_SYSBOOT1_SHIFT) +#define CONTROL_STATUS_SYSBOOT1_25MHZ (2 << CONTROL_STATUS_SYSBOOT1_SHIFT) +#define CONTROL_STATUS_SYSBOOT1_26MHZ (3 << CONTROL_STATUS_SYSBOOT1_SHIFT) + +#define CONFIG_AM335X_CAN_TSEG1 6 +#define CONFIG_AM335X_CAN_TSEG2 1 +#define CAN_BIT_QUANTA (CONFIG_AM335X_CAN_TSEG1 + CONFIG_AM335X_CAN_TSEG2 + 1) +#define CAN_CLOCK_FREQUENCY (am335x_get_sysclk()) + +struct am335x_dcan_irq { + uint32_t dcan_intr0; + uint32_t dcan_intr1; + uint32_t dcan_parity; +}; + +struct am335x_dcan_priv { + uint32_t node; + uint32_t base_reg; + uint32_t baudrate; + struct can_bus *bus; + struct am335x_dcan_irq irq; +}; + +int dcan_init(struct am335x_dcan_priv *dcan_priv); +void beagle_can_init(void *node); + +void dcan_init_ops(struct am335x_dcan_priv *priv); + +#define can_putreg(priv, off, val) \ + do { \ + REG(priv->base_reg + off) = val; \ + CAN_DEBUG_REG("%s:%d %08x<-%08x\n", __FILE__, __LINE__, priv->base_reg + off, val); \ + } while (0) + +static inline uint32_t can_getreg(struct am335x_dcan_priv *priv, uint32_t off) +{ + CAN_DEBUG_REG("can_getreg 0x%08x = 0x%08x\n", priv->base_reg + off, + REG(priv->base_reg + off)); + return REG(priv->base_reg + off); +} + +#endif /* _BSP_AM335X_CAN_H */ |