mirror of
https://github.com/apache/nuttx.git
synced 2026-10-07 06:15:20 +00:00
LPC17_40 CAN driver SocketCAN support
This commit is contained in:
Peter van der Perk
Xiang Xiao
parent
d501e01eef
commit
a6da6dcec6
1 changed files with 631 additions and 32 deletions
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@ -50,6 +50,14 @@
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#include <nuttx/config.h>
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#if defined(CONFIG_CAN)
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# define CHRDEV_CAN
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#endif
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#if defined(CONFIG_NET_CAN)
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# define SOCKET_CAN
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#endif
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#include <stdio.h>
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#include <sys/types.h>
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#include <inttypes.h>
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@ -62,7 +70,18 @@
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#include <arch/board/board.h>
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#include <nuttx/irq.h>
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#include <nuttx/arch.h>
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#include <nuttx/can/can.h>
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#if defined(CHRDEV_CAN)
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# include <nuttx/can/can.h>
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#endif
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#if defined(SOCKET_CAN)
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# include <nuttx/can.h>
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# include <nuttx/net/netdev.h>
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# include <nuttx/net/can.h>
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# include <nuttx/wqueue.h>
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# include <string.h>
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#endif
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#include "arm_internal.h"
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#include "chip.h"
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@ -72,6 +91,14 @@
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#if defined(CONFIG_LPC17_40_CAN1) || defined(CONFIG_LPC17_40_CAN2)
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#if defined(CHRDEV_CAN) && defined(SOCKET_CAN)
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# error "Both chrdev CAN or SocketCAN have been enabled"
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#endif
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#if defined(CHRDEV_CAN)
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#define lpc17_40_can_s can_dev_s
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#endif
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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@ -180,6 +207,13 @@
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# define CAN_CLOCK_FREQUENCY(d) ((uint32_t)LPC17_40_CCLK / (uint32_t)(d))
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#endif
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#if defined(SOCKET_CAN)
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#define FLAGEFF (1 << 31) /* Extended frame format */
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#define FLAGRTR (1 << 30) /* Remote transmission request */
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#define POOL_SIZE 1
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#endif
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/****************************************************************************
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* Private Types
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****************************************************************************/
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@ -192,6 +226,31 @@ struct up_dev_s
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uint32_t base; /* CAN register base address */
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};
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#if defined(SOCKET_CAN)
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struct lpc17_40_can_s
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{
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bool bifup; /* true:ifup false:ifdown */
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#ifdef TX_TIMEOUT_WQ
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WDOG_ID txtimeout[TXMBCOUNT]; /* TX timeout timer */
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#endif
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struct work_s irqwork; /* For deferring interrupt work to the wq */
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struct can_frame *txdesc; /* A pointer to the list of TX descriptor */
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struct can_frame *rxdesc; /* A pointer to the list of RX descriptors */
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/* This holds the information visible to the NuttX network */
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struct net_driver_s dev; /* Interface understood by the network */
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FAR void *cd_priv; /* Used by the arch-specific logic */
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#ifdef CONFIG_NET_CAN_RAW_TX_DEADLINE
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struct txmbstats txmb[TXMBCOUNT];
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#endif
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};
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#endif
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/****************************************************************************
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* Private Function Prototypes
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****************************************************************************/
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@ -215,32 +274,46 @@ static void can_putcommon(uint32_t addr, uint32_t value);
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/* CAN methods */
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static void lpc17can_reset(struct can_dev_s *dev);
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static int lpc17can_setup(struct can_dev_s *dev);
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static void lpc17can_shutdown(struct can_dev_s *dev);
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static void lpc17can_rxint(struct can_dev_s *dev, bool enable);
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static void lpc17can_txint(struct can_dev_s *dev, bool enable);
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static int lpc17can_ioctl(struct can_dev_s *dev, int cmd,
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static void lpc17can_reset(struct lpc17_40_can_s *dev);
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static int lpc17can_setup(struct lpc17_40_can_s *dev);
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static void lpc17can_shutdown(struct lpc17_40_can_s *dev);
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static void lpc17can_rxint(struct lpc17_40_can_s *dev, bool enable);
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static void lpc17can_txint(struct lpc17_40_can_s *dev, bool enable);
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static int lpc17can_ioctl(struct lpc17_40_can_s *dev, int cmd,
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unsigned long arg);
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static int lpc17can_remoterequest(struct can_dev_s *dev, uint16_t id);
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static int lpc17can_send(struct can_dev_s *dev,
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static int lpc17can_remoterequest(struct lpc17_40_can_s *dev, uint16_t id);
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#if defined(CHRDEV_CAN)
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static int lpc17can_send(struct lpc17_40_can_s *dev,
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struct can_msg_s *msg);
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static bool lpc17can_txready(struct can_dev_s *dev);
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static bool lpc17can_txempty(struct can_dev_s *dev);
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#endif
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static bool lpc17can_txready(struct lpc17_40_can_s *dev);
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static bool lpc17can_txempty(struct lpc17_40_can_s *dev);
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/* CAN interrupts */
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static void can_interrupt(struct can_dev_s *dev);
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static void can_interrupt(struct lpc17_40_can_s *dev);
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static int can12_interrupt(int irq, void *context, void *arg);
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/* Initialization */
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static int can_bittiming(struct up_dev_s *priv);
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/* SocketCAN network methods */
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#if defined(SOCKET_CAN)
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static int lpc17can_ifup(struct net_driver_s *dev);
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static int lpc17can_ifdown(struct net_driver_s *dev);
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static int lpc17can_txavail(struct net_driver_s *dev);
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static bool lpc17can_txringfull(FAR struct lpc17_40_can_s *dev);
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static int lpc17can_txpoll(struct net_driver_s *dev);
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static int lpc17can_transmit(FAR struct lpc17_40_can_s *dev);
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#endif
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/****************************************************************************
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* Private Data
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****************************************************************************/
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#if defined(CHRDEV_CAN)
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static const struct can_ops_s g_canops =
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{
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.co_reset = lpc17can_reset,
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@ -254,6 +327,7 @@ static const struct can_ops_s g_canops =
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.co_txready = lpc17can_txready,
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.co_txempty = lpc17can_txempty,
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};
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#endif
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#ifdef CONFIG_LPC17_40_CAN1
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static struct up_dev_s g_can1priv =
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@ -263,12 +337,13 @@ static struct up_dev_s g_can1priv =
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.baud = CONFIG_LPC17_40_CAN1_BAUD,
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.base = LPC17_40_CAN1_BASE,
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};
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static struct can_dev_s g_can1dev =
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# if defined(CHRDEV_CAN)
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static struct lpc17_40_can_s g_can1dev =
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{
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.cd_ops = &g_canops,
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.cd_priv = &g_can1priv,
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};
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# endif
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#endif
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#ifdef CONFIG_LPC17_40_CAN2
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@ -279,12 +354,34 @@ static struct up_dev_s g_can2priv =
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.baud = CONFIG_LPC17_40_CAN2_BAUD,
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.base = LPC17_40_CAN2_BASE,
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};
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static struct can_dev_s g_can2dev =
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# if defined(CHRDEV_CAN)
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static struct lpc17_40_can_s g_can2dev =
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{
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.cd_ops = &g_canops,
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.cd_priv = &g_can2priv,
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};
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# endif
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#endif
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#if defined(SOCKET_CAN)
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static uint8_t g_tx_pool[sizeof(struct can_frame)*POOL_SIZE];
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static uint8_t g_rx_pool[sizeof(struct can_frame)*POOL_SIZE];
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#ifdef CONFIG_LPC17_40_CAN1
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static struct lpc17_40_can_s g_can1dev =
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{
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.cd_priv = &g_can1priv,
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};
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#endif
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#ifdef CONFIG_LPC17_40_CAN2
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static struct lpc17_40_can_s g_can2dev =
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{
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.cd_priv = &g_can2priv,
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};
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#endif
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#endif
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/****************************************************************************
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@ -496,7 +593,7 @@ static void can_putcommon(uint32_t addr, uint32_t value)
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*
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****************************************************************************/
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static void lpc17can_reset(struct can_dev_s *dev)
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static void lpc17can_reset(struct lpc17_40_can_s *dev)
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{
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struct up_dev_s *priv = (struct up_dev_s *)dev->cd_priv;
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irqstate_t flags;
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@ -549,7 +646,7 @@ static void lpc17can_reset(struct can_dev_s *dev)
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*
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****************************************************************************/
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static int lpc17can_setup(struct can_dev_s *dev)
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static int lpc17can_setup(struct lpc17_40_can_s *dev)
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{
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struct up_dev_s *priv = (struct up_dev_s *)dev->cd_priv;
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int ret;
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@ -580,7 +677,7 @@ static int lpc17can_setup(struct can_dev_s *dev)
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*
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****************************************************************************/
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static void lpc17can_shutdown(struct can_dev_s *dev)
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static void lpc17can_shutdown(struct lpc17_40_can_s *dev)
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{
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#ifdef CONFIG_DEBUG_CAN_INFO
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struct up_dev_s *priv = (struct up_dev_s *)dev->cd_priv;
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@ -606,7 +703,7 @@ static void lpc17can_shutdown(struct can_dev_s *dev)
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*
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****************************************************************************/
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static void lpc17can_rxint(struct can_dev_s *dev, bool enable)
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static void lpc17can_rxint(struct lpc17_40_can_s *dev, bool enable)
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{
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struct up_dev_s *priv = (struct up_dev_s *)dev->cd_priv;
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uint32_t regval;
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@ -647,7 +744,7 @@ static void lpc17can_rxint(struct can_dev_s *dev, bool enable)
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*
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****************************************************************************/
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static void lpc17can_txint(struct can_dev_s *dev, bool enable)
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static void lpc17can_txint(struct lpc17_40_can_s *dev, bool enable)
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{
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struct up_dev_s *priv = (struct up_dev_s *)dev->cd_priv;
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uint32_t regval;
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@ -691,7 +788,7 @@ static void lpc17can_txint(struct can_dev_s *dev, bool enable)
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*
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****************************************************************************/
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static int lpc17can_ioctl(struct can_dev_s *dev, int cmd,
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static int lpc17can_ioctl(struct lpc17_40_can_s *dev, int cmd,
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unsigned long arg)
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{
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canerr("ERROR: Fix me -- Not Implemented\n");
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@ -712,12 +809,14 @@ static int lpc17can_ioctl(struct can_dev_s *dev, int cmd,
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*
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****************************************************************************/
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static int lpc17can_remoterequest(struct can_dev_s *dev, uint16_t id)
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static int lpc17can_remoterequest(struct lpc17_40_can_s *dev, uint16_t id)
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{
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canerr("ERROR: Fix me -- Not Implemented\n");
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return 0;
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}
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#if defined(CHRDEV_CAN)
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/****************************************************************************
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* Name: lpc17can_send
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*
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@ -741,7 +840,7 @@ static int lpc17can_remoterequest(struct can_dev_s *dev, uint16_t id)
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*
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****************************************************************************/
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static int lpc17can_send(struct can_dev_s *dev,
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static int lpc17can_send(struct lpc17_40_can_s *dev,
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struct can_msg_s *msg)
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{
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struct up_dev_s *priv = (struct up_dev_s *)dev->cd_priv;
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@ -891,6 +990,254 @@ static int lpc17can_send(struct can_dev_s *dev,
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return ret;
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}
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#endif
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#if defined(SOCKET_CAN)
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/****************************************************************************
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* Function: lpc17can_txringfull
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*
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* Description:
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* Check if all of the TX descriptors are in use.
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*
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* Input Parameters:
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* priv - Reference to the driver state structure
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*
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* Returned Value:
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* true is the TX ring is full; false if there are free slots at the
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* head index.
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*
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****************************************************************************/
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static inline bool lpc17can_txringfull(FAR struct lpc17_40_can_s *dev)
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{
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return !lpc17can_txready(dev);
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}
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/****************************************************************************
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* Name: lpc17can_txpoll
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*
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* Description:
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* The transmitter is available, check if the network has any outgoing
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* packets ready to send. This is a callback from devif_poll().
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* devif_poll() may be called:
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*
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* 1. When the preceding TX packet send is complete,
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* 2. When the preceding TX packet send timesout and the interface is reset
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* 3. During normal TX polling
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*
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* Input Parameters:
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* dev - Reference to the NuttX driver state structure
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*
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* Returned Value:
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* OK on success; a negated errno on failure
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*
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****************************************************************************/
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static int lpc17can_txpoll(struct net_driver_s *dev)
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{
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FAR struct lpc17_40_can_s *priv =
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(FAR struct lpc17_40_can_s *)dev->d_private;
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/* If the polling resulted in data that should be sent out on the network,
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* the field d_len is set to a value > 0.
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*/
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if (priv->dev.d_len > 0)
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{
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if (!devif_loopback(&priv->dev))
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{
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/* Send the packet */
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lpc17can_transmit(priv);
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/* Check if there is room in the device to hold another packet. If
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* not, return a non-zero value to terminate the poll.
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*/
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if (lpc17can_txringfull(priv))
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{
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return -EBUSY;
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}
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}
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}
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/* If zero is returned, the polling will continue until all connections
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* have been examined.
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*/
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return 0;
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}
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/****************************************************************************
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* Function: lpc17can_transmit
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*
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* Description:
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* Start hardware transmission. Called either from the txdone interrupt
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* handling or from watchdog based polling.
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*
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* Input Parameters:
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* priv - Reference to the driver state structure
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*
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* Returned Value:
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* OK on success; a negated errno on failure
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*
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* Assumptions:
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* May or may not be called from an interrupt handler. In either case,
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* global interrupts are disabled, either explicitly or indirectly through
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* interrupt handling logic.
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*
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****************************************************************************/
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static int lpc17can_transmit(FAR struct lpc17_40_can_s *dev)
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{
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FAR struct up_dev_s *priv = (FAR struct up_dev_s *)dev->cd_priv;
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struct can_frame *frame = (struct can_frame *)dev->dev.d_buf;
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uint32_t tid = (uint32_t)frame->can_id;
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uint32_t tfi = (uint32_t)frame->can_dlc << 16;
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uint32_t regval;
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irqstate_t flags;
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int ret = OK;
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ninfo("CAN%d ID: %ld DLC: %d\n",
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priv->port, frame->can_id, frame->can_dlc);
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if (tid & FLAGRTR)
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{
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tfi |= CAN_TFI_RTR;
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}
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/* Set the FF bit in the TFI register if this message should be sent with
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* the extended frame format (and 29-bit extended ID).
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*/
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if (tid & FLAGEFF)
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{
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/* The provided ID should be 29 bits */
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DEBUGASSERT((tid & ~CAN_TID_ID29_MASK) == 0);
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tfi |= CAN_TFI_FF;
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}
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else
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{
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/* The provided ID should be 11 bits */
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DEBUGASSERT((tid & ~CAN_TID_ID11_MASK) == 0);
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}
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flags = enter_critical_section();
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/* Pick a transmit buffer */
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regval = can_getreg(priv, LPC17_40_CAN_SR_OFFSET);
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if ((regval & CAN_SR_TBS1) != 0)
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{
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/* Make sure that buffer 1 TX interrupts are enabled BEFORE sending the
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* message. The TX interrupt is generated when the TBSn bit in CANxSR
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* goes from 0 to 1 when the TIEn bit in CANxIER is 1. If we don't
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* enable it now, we may miss the TIE1 interrupt.
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*
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* NOTE: The IER is also modified from the interrupt handler, but the
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* following is safe because interrupts are disabled here.
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*/
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regval = can_getreg(priv, LPC17_40_CAN_IER_OFFSET);
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regval |= CAN_IER_TIE1;
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can_putreg(priv, LPC17_40_CAN_IER_OFFSET, regval);
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/* Set up the transfer */
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can_putreg(priv, LPC17_40_CAN_TFI1_OFFSET, tfi);
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can_putreg(priv, LPC17_40_CAN_TID1_OFFSET, tid);
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can_putreg(priv, LPC17_40_CAN_TDA1_OFFSET,
|
||||
*(uint32_t *)&frame->data[0]);
|
||||
can_putreg(priv, LPC17_40_CAN_TDB1_OFFSET,
|
||||
*(uint32_t *)&frame->data[4]);
|
||||
|
||||
/* Send the message */
|
||||
|
||||
#ifdef CONFIG_CAN_LOOPBACK
|
||||
can_putreg(priv, LPC17_40_CAN_CMR_OFFSET, CAN_CMR_STB1 | CAN_CMR_SRR);
|
||||
#else
|
||||
can_putreg(priv, LPC17_40_CAN_CMR_OFFSET, CAN_CMR_STB1 | CAN_CMR_TR);
|
||||
#endif
|
||||
}
|
||||
else if ((regval & CAN_SR_TBS2) != 0)
|
||||
{
|
||||
/* Make sure that buffer 2 TX interrupts are enabled BEFORE sending the
|
||||
* message. The TX interrupt is generated when the TBSn bit in CANxSR
|
||||
* goes from 0 to 1 when the TIEn bit in CANxIER is 1. If we don't
|
||||
* enable it now, we may miss the TIE2 interrupt.
|
||||
*
|
||||
* NOTE: The IER is also modified from the interrupt handler, but the
|
||||
* following is safe because interrupts are disabled here.
|
||||
*/
|
||||
|
||||
regval = can_getreg(priv, LPC17_40_CAN_IER_OFFSET);
|
||||
regval |= CAN_IER_TIE2;
|
||||
can_putreg(priv, LPC17_40_CAN_IER_OFFSET, regval);
|
||||
|
||||
/* Set up the transfer */
|
||||
|
||||
can_putreg(priv, LPC17_40_CAN_TFI2_OFFSET, tfi);
|
||||
can_putreg(priv, LPC17_40_CAN_TID2_OFFSET, tid);
|
||||
can_putreg(priv, LPC17_40_CAN_TDA2_OFFSET,
|
||||
*(uint32_t *)&frame->data[0]);
|
||||
can_putreg(priv, LPC17_40_CAN_TDB2_OFFSET,
|
||||
*(uint32_t *)&frame->data[4]);
|
||||
|
||||
/* Send the message */
|
||||
|
||||
#ifdef CONFIG_CAN_LOOPBACK
|
||||
can_putreg(priv, LPC17_40_CAN_CMR_OFFSET, CAN_CMR_STB2 | CAN_CMR_SRR);
|
||||
#else
|
||||
can_putreg(priv, LPC17_40_CAN_CMR_OFFSET, CAN_CMR_STB2 | CAN_CMR_TR);
|
||||
#endif
|
||||
}
|
||||
else if ((regval & CAN_SR_TBS3) != 0)
|
||||
{
|
||||
/* Make sure that buffer 3 TX interrupts are enabled BEFORE sending the
|
||||
* message. The TX interrupt is generated when the TBSn bit in CANxSR
|
||||
* goes from 0 to 1 when the TIEn bit in CANxIER is 1. If we don't
|
||||
* enable it now, we may miss the TIE3 interrupt.
|
||||
*
|
||||
* NOTE: The IER is also modified from the interrupt handler, but the
|
||||
* following is safe because interrupts are disabled here.
|
||||
*/
|
||||
|
||||
regval = can_getreg(priv, LPC17_40_CAN_IER_OFFSET);
|
||||
regval |= CAN_IER_TIE3;
|
||||
can_putreg(priv, LPC17_40_CAN_IER_OFFSET, regval);
|
||||
|
||||
/* Set up the transfer */
|
||||
|
||||
can_putreg(priv, LPC17_40_CAN_TFI3_OFFSET, tfi);
|
||||
can_putreg(priv, LPC17_40_CAN_TID3_OFFSET, tid);
|
||||
can_putreg(priv, LPC17_40_CAN_TDA3_OFFSET,
|
||||
*(uint32_t *)&frame->data[0]);
|
||||
can_putreg(priv, LPC17_40_CAN_TDB3_OFFSET,
|
||||
*(uint32_t *)&frame->data[4]);
|
||||
|
||||
/* Send the message */
|
||||
|
||||
#ifdef CONFIG_CAN_LOOPBACK
|
||||
can_putreg(priv, LPC17_40_CAN_CMR_OFFSET, CAN_CMR_STB3 | CAN_CMR_SRR);
|
||||
#else
|
||||
can_putreg(priv, LPC17_40_CAN_CMR_OFFSET, CAN_CMR_STB3 | CAN_CMR_TR);
|
||||
#endif
|
||||
}
|
||||
else
|
||||
{
|
||||
canerr("ERROR: No available transmission buffer, SR: %08lx\n", regval);
|
||||
ret = -EBUSY;
|
||||
}
|
||||
|
||||
leave_critical_section(flags);
|
||||
return ret;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Name: lpc17can_txready
|
||||
*
|
||||
|
|
@ -905,7 +1252,7 @@ static int lpc17can_send(struct can_dev_s *dev,
|
|||
*
|
||||
****************************************************************************/
|
||||
|
||||
static bool lpc17can_txready(struct can_dev_s *dev)
|
||||
static bool lpc17can_txready(struct lpc17_40_can_s *dev)
|
||||
{
|
||||
struct up_dev_s *priv = (struct up_dev_s *)dev->cd_priv;
|
||||
uint32_t regval = can_getreg(priv, LPC17_40_CAN_SR_OFFSET);
|
||||
|
|
@ -930,7 +1277,7 @@ static bool lpc17can_txready(struct can_dev_s *dev)
|
|||
*
|
||||
****************************************************************************/
|
||||
|
||||
static bool lpc17can_txempty(struct can_dev_s *dev)
|
||||
static bool lpc17can_txempty(struct lpc17_40_can_s *dev)
|
||||
{
|
||||
struct up_dev_s *priv = (struct up_dev_s *)dev->cd_priv;
|
||||
uint32_t regval = can_getreg(priv, LPC17_40_CAN_GSR_OFFSET);
|
||||
|
|
@ -951,14 +1298,15 @@ static bool lpc17can_txempty(struct can_dev_s *dev)
|
|||
*
|
||||
****************************************************************************/
|
||||
|
||||
static void can_interrupt(struct can_dev_s *dev)
|
||||
static void can_interrupt(struct lpc17_40_can_s *dev)
|
||||
{
|
||||
struct up_dev_s *priv = (struct up_dev_s *)dev->cd_priv;
|
||||
struct can_hdr_s hdr;
|
||||
uint32_t data[2];
|
||||
uint32_t regval;
|
||||
uint32_t rfs;
|
||||
uint32_t rid;
|
||||
uint32_t regval;
|
||||
#if defined(CHRDEV_CAN)
|
||||
struct can_hdr_s hdr;
|
||||
uint32_t data[2];
|
||||
|
||||
/* Read the interrupt and capture register (also clearing most status
|
||||
* bits)
|
||||
|
|
@ -1007,6 +1355,70 @@ static void can_interrupt(struct can_dev_s *dev)
|
|||
}
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
#if defined(SOCKET_CAN)
|
||||
struct can_frame *frame = dev->rxdesc;
|
||||
|
||||
/* Read the interrupt and capture register
|
||||
* (also clearing most status bits)
|
||||
*/
|
||||
|
||||
regval = can_getreg(priv, LPC17_40_CAN_ICR_OFFSET);
|
||||
caninfo("CAN%d ICR: %08lx\n", priv->port, regval);
|
||||
|
||||
/* Check for a receive interrupt */
|
||||
|
||||
if ((regval & CAN_ICR_RI) != 0)
|
||||
{
|
||||
rfs = can_getreg(priv, LPC17_40_CAN_RFS_OFFSET);
|
||||
rid = can_getreg(priv, LPC17_40_CAN_RID_OFFSET);
|
||||
|
||||
frame->can_id = rid;
|
||||
|
||||
if ((rfs & CAN_RFS_FF) != 0)
|
||||
{
|
||||
frame->can_id |= FLAGEFF;
|
||||
}
|
||||
|
||||
if ((rfs & CAN_RFS_RTR) != 0)
|
||||
{
|
||||
frame->can_id |= FLAGRTR;
|
||||
}
|
||||
|
||||
frame->can_dlc = (rfs & CAN_RFS_DLC_MASK) >> CAN_RFS_DLC_SHIFT;
|
||||
|
||||
memcpy(&frame->data,
|
||||
(uint32_t *)(priv->base + LPC17_40_CAN_RDA_OFFSET),
|
||||
frame->can_dlc);
|
||||
|
||||
/* Release the receive buffer */
|
||||
|
||||
can_putreg(priv, LPC17_40_CAN_CMR_OFFSET, CAN_CMR_RRB);
|
||||
|
||||
/* Process the received CAN packet */
|
||||
|
||||
dev->dev.d_len = sizeof(struct can_frame);
|
||||
dev->dev.d_buf = (uint8_t *)frame;
|
||||
|
||||
/* Send to socket interface */
|
||||
|
||||
NETDEV_RXPACKETS(&dev->dev);
|
||||
|
||||
can_input(&dev->dev);
|
||||
|
||||
/* Point the packet buffer back to the next Tx buffer that will be
|
||||
* used during the next write. If the write queue is full, then
|
||||
* this will point at an active buffer, which must not be written
|
||||
* to. This is OK because devif_poll won't be called unless the
|
||||
* queue is not full.
|
||||
*/
|
||||
|
||||
dev->dev.d_buf = (uint8_t *)dev->txdesc;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
/* Check for TX buffer 1 complete */
|
||||
|
||||
if ((regval & CAN_ICR_TI1) != 0)
|
||||
|
|
@ -1019,7 +1431,11 @@ static void can_interrupt(struct can_dev_s *dev)
|
|||
|
||||
/* Indicate that the TX is done and a new TX buffer is available */
|
||||
|
||||
#if defined(CHRDEV_CAN)
|
||||
can_txdone(dev);
|
||||
#elif defined(SOCKET_CAN)
|
||||
NETDEV_TXDONE(&priv->dev);
|
||||
#endif
|
||||
}
|
||||
|
||||
/* Check for TX buffer 2 complete */
|
||||
|
|
@ -1034,7 +1450,11 @@ static void can_interrupt(struct can_dev_s *dev)
|
|||
|
||||
/* Indicate that the TX is done and a new TX buffer is available */
|
||||
|
||||
#if defined(CHRDEV_CAN)
|
||||
can_txdone(dev);
|
||||
#elif defined(SOCKET_CAN)
|
||||
NETDEV_TXDONE(&priv->dev);
|
||||
#endif
|
||||
}
|
||||
|
||||
/* Check for TX buffer 3 complete */
|
||||
|
|
@ -1049,7 +1469,11 @@ static void can_interrupt(struct can_dev_s *dev)
|
|||
|
||||
/* Indicate that the TX is done and a new TX buffer is available */
|
||||
|
||||
#if defined(CHRDEV_CAN)
|
||||
can_txdone(dev);
|
||||
#elif defined(SOCKET_CAN)
|
||||
NETDEV_TXDONE(&priv->dev);
|
||||
#endif
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -1228,6 +1652,166 @@ static int can_bittiming(struct up_dev_s *priv)
|
|||
return OK;
|
||||
}
|
||||
|
||||
#if defined(SOCKET_CAN)
|
||||
|
||||
/****************************************************************************
|
||||
* Function: s32k1xx_txavail
|
||||
*
|
||||
* Description:
|
||||
* Driver callback invoked when new TX data is available. This is a
|
||||
* stimulus perform an out-of-cycle poll and, thereby, reduce the TX
|
||||
* latency.
|
||||
*
|
||||
* Input Parameters:
|
||||
* dev - Reference to the NuttX driver state structure
|
||||
*
|
||||
* Returned Value:
|
||||
* None
|
||||
*
|
||||
* Assumptions:
|
||||
* Called in normal user mode
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
static int lpc17can_txavail(struct net_driver_s *dev)
|
||||
{
|
||||
FAR struct lpc17_40_can_s *priv =
|
||||
(FAR struct lpc17_40_can_s *)dev->d_private;
|
||||
|
||||
/* Ignore the notification if the interface is not yet up */
|
||||
|
||||
net_lock();
|
||||
if (priv->bifup)
|
||||
{
|
||||
/* Check if there is room in the hardware to hold another outgoing
|
||||
* packet.
|
||||
*/
|
||||
|
||||
if (!lpc17can_txringfull(priv))
|
||||
{
|
||||
/* No, there is space for another transfer. Poll the network for
|
||||
* new XMIT data.
|
||||
*/
|
||||
|
||||
devif_poll(&priv->dev, lpc17can_txpoll);
|
||||
}
|
||||
}
|
||||
|
||||
net_unlock();
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Function: s32k1xx_ifup
|
||||
*
|
||||
* Description:
|
||||
* NuttX Callback: Bring up the Ethernet interface when an IP address is
|
||||
* provided
|
||||
*
|
||||
* Input Parameters:
|
||||
* dev - Reference to the NuttX driver state structure
|
||||
*
|
||||
* Returned Value:
|
||||
* None
|
||||
*
|
||||
* Assumptions:
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
static int lpc17can_ifup(struct net_driver_s *dev)
|
||||
{
|
||||
FAR struct lpc17_40_can_s *priv =
|
||||
(FAR struct lpc17_40_can_s *)dev->d_private;
|
||||
|
||||
priv->bifup = true;
|
||||
|
||||
priv->txdesc = (struct can_frame *)&g_tx_pool;
|
||||
priv->rxdesc = (struct can_frame *)&g_rx_pool;
|
||||
|
||||
priv->dev.d_buf = (uint8_t *)priv->txdesc;
|
||||
|
||||
lpc17can_setup(priv);
|
||||
lpc17can_rxint(priv, true);
|
||||
lpc17can_txint(priv, true);
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Function: lpc17can_ifdown
|
||||
*
|
||||
* Description:
|
||||
* NuttX Callback: Stop the interface.
|
||||
*
|
||||
* Input Parameters:
|
||||
* dev - Reference to the NuttX driver state structure
|
||||
*
|
||||
* Returned Value:
|
||||
* None
|
||||
*
|
||||
* Assumptions:
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
static int lpc17can_ifdown(struct net_driver_s *dev)
|
||||
{
|
||||
FAR struct lpc17_40_can_s *priv =
|
||||
(FAR struct lpc17_40_can_s *)dev->d_private;
|
||||
|
||||
lpc17can_reset(priv);
|
||||
|
||||
priv->bifup = false;
|
||||
return OK;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: lpc17_40_netinitialize
|
||||
*
|
||||
* Description:
|
||||
* Initialize the network driver structure
|
||||
*
|
||||
* Input Parameters:
|
||||
* CAN device priv instance
|
||||
*
|
||||
* Returned Value:
|
||||
* OK
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int lpc17_40_netinitialize(struct lpc17_40_can_s * priv)
|
||||
{
|
||||
/* Initialize the driver structure */
|
||||
|
||||
priv->dev.d_ifup = lpc17can_ifup; /* I/F up (new IP address) callback */
|
||||
priv->dev.d_ifdown = lpc17can_ifdown; /* I/F down callback */
|
||||
priv->dev.d_txavail = lpc17can_txavail; /* New TX data callback */
|
||||
priv->dev.d_private = (void *)priv; /* Used to recover private state from dev */
|
||||
|
||||
#ifdef TX_TIMEOUT_WQ
|
||||
for (int i = 0; i < TXMBCOUNT; i++)
|
||||
{
|
||||
priv->txtimeout[i] = wd_create(); /* Create TX timeout timer */
|
||||
}
|
||||
#endif
|
||||
|
||||
/* Put the interface in the down state. This usually amounts to resetting
|
||||
* the device and/or calling s32k1xx_ifdown().
|
||||
*/
|
||||
|
||||
ninfo("callbacks done\r\n");
|
||||
|
||||
lpc17can_ifdown(&priv->dev);
|
||||
|
||||
/* Register the device with the OS so that socket IOCTLs can be performed */
|
||||
|
||||
netdev_register(&priv->dev, NET_LL_CAN);
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
|
@ -1246,9 +1830,9 @@ static int can_bittiming(struct up_dev_s *priv)
|
|||
*
|
||||
****************************************************************************/
|
||||
|
||||
struct can_dev_s *lpc17_40_caninitialize(int port)
|
||||
struct lpc17_40_can_s *lpc17_40_caninitialize(int port)
|
||||
{
|
||||
struct can_dev_s *candev;
|
||||
struct lpc17_40_can_s *candev;
|
||||
irqstate_t flags;
|
||||
uint32_t regval;
|
||||
|
||||
|
|
@ -1334,4 +1918,19 @@ struct can_dev_s *lpc17_40_caninitialize(int port)
|
|||
leave_critical_section(flags);
|
||||
return candev;
|
||||
}
|
||||
|
||||
#if defined(SOCKET_CAN) && !defined(CONFIG_NETDEV_LATEINIT)
|
||||
|
||||
void arm_netinitialize(void)
|
||||
{
|
||||
#ifdef CONFIG_LPC17_40_CAN1
|
||||
lpc17_40_netinitialize(lpc17_40_caninitialize(1));
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_LPC17_40_CAN2
|
||||
lpc17_40_netinitialize(lpc17_40_caninitialize(2));
|
||||
#endif
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue