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/* 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);
}
}
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