diff options
Diffstat (limited to 'bsps/include/grlib/grcan.h')
| -rw-r--r-- | bsps/include/grlib/grcan.h | 130 |
1 files changed, 127 insertions, 3 deletions
diff --git a/bsps/include/grlib/grcan.h b/bsps/include/grlib/grcan.h index b1bc2ba758..a956bef124 100644 --- a/bsps/include/grlib/grcan.h +++ b/bsps/include/grlib/grcan.h @@ -1,6 +1,7 @@ /** * @file * @ingroup can + * @brief Driver API for the GRLIB GRCAN and GRCANFD controllers */ /* @@ -25,6 +26,8 @@ * @{ */ +#include <stdint.h> + #ifdef __cplusplus extern "C" { #endif @@ -37,7 +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 */ @@ -82,10 +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; @@ -97,16 +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, @@ -166,6 +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 @@ -230,6 +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. @@ -255,6 +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. @@ -280,6 +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() @@ -320,6 +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); |