can_sja1000.h

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/*
 * Copyright (c) 2022 Henrik Brix Andersen <[email protected]>
 *
 * SPDX-License-Identifier: Apache-2.0
 */
 
#ifndef ZEPHYR_INCLUDE_DRIVERS_CAN_CAN_SJA1000_H_
#define ZEPHYR_INCLUDE_DRIVERS_CAN_CAN_SJA1000_H_
 
#include <zephyr/drivers/can.h>
 
#define CAN_SJA1000_OCR_OCMODE_MASK GENMASK(1, 0)
#define CAN_SJA1000_OCR_OCPOL0 BIT(2)
#define CAN_SJA1000_OCR_OCTN0 BIT(3)
#define CAN_SJA1000_OCR_OCTP0 BIT(4)
#define CAN_SJA1000_OCR_OCPOL1 BIT(5)
#define CAN_SJA1000_OCR_OCTN1 BIT(6)
#define CAN_SJA1000_OCR_OCTP1 BIT(7)
 
#define CAN_SJA1000_OCR_OCMODE_BIPHASE FIELD_PREP(CAN_SJA1000_OCR_OCMODE_MASK, 0U)
#define CAN_SJA1000_OCR_OCMODE_TEST FIELD_PREP(CAN_SJA1000_OCR_OCMODE_MASK, 1U)
#define CAN_SJA1000_OCR_OCMODE_NORMAL FIELD_PREP(CAN_SJA1000_OCR_OCMODE_MASK, 2U)
#define CAN_SJA1000_OCR_OCMODE_CLOCK FIELD_PREP(CAN_SJA1000_OCR_OCMODE_MASK, 3U)
 
#define CAN_SJA1000_CDR_CD_MASK GENMASK(2, 0)
#define CAN_SJA1000_CDR_CLOCK_OFF BIT(3)
#define CAN_SJA1000_CDR_RXINTEN BIT(5)
#define CAN_SJA1000_CDR_CBP BIT(6)
#define CAN_SJA1000_CDR_CAN_MODE BIT(7)
 
#define CAN_SJA1000_CDR_CD_DIV1 FIELD_PREP(CAN_SJA1000_CDR_CD_MASK, 7U)
#define CAN_SJA1000_CDR_CD_DIV2 FIELD_PREP(CAN_SJA1000_CDR_CD_MASK, 0U)
#define CAN_SJA1000_CDR_CD_DIV4 FIELD_PREP(CAN_SJA1000_CDR_CD_MASK, 1U)
#define CAN_SJA1000_CDR_CD_DIV6 FIELD_PREP(CAN_SJA1000_CDR_CD_MASK, 2U)
#define CAN_SJA1000_CDR_CD_DIV8 FIELD_PREP(CAN_SJA1000_CDR_CD_MASK, 3U)
#define CAN_SJA1000_CDR_CD_DIV10 FIELD_PREP(CAN_SJA1000_CDR_CD_MASK, 4U)
#define CAN_SJA1000_CDR_CD_DIV12 FIELD_PREP(CAN_SJA1000_CDR_CD_MASK, 5U)
#define CAN_SJA1000_CDR_CD_DIV14 FIELD_PREP(CAN_SJA1000_CDR_CD_MASK, 6U)
 
#define CAN_SJA1000_TIMING_MIN_INITIALIZER \
 { \
 .sjw = 1, \
 .prop_seg = 0, \
 .phase_seg1 = 1, \
 .phase_seg2 = 1, \
 .prescaler = 1 \
 }
 
#define CAN_SJA1000_TIMING_MAX_INITIALIZER \
 { \
 .sjw = 4, \
 .prop_seg = 0, \
 .phase_seg1 = 16, \
 .phase_seg2 = 8, \
 .prescaler = 64 \
 }
 
typedef void (*can_sja1000_write_reg_t)(const struct device *dev, uint8_t reg, uint8_t val);
 
typedef uint8_t (*can_sja1000_read_reg_t)(const struct device *dev, uint8_t reg);
 
struct can_sja1000_config {
 const struct can_driver_config common;
 can_sja1000_read_reg_t read_reg;
 can_sja1000_write_reg_t write_reg;
 uint8_t ocr;
 uint8_t cdr;
 const void *custom;
};
 
#define CAN_SJA1000_DT_CONFIG_GET(node_id, _custom, _read_reg, _write_reg, _ocr, _cdr, \
 _min_bitrate) \
 { \
 .common = CAN_DT_DRIVER_CONFIG_GET(node_id, _min_bitrate, 1000000), \
 .read_reg = _read_reg, \
 .write_reg = _write_reg, \
 .ocr = _ocr, \
 .cdr = _cdr, \
 .custom = _custom, \
 }
 
#define CAN_SJA1000_DT_CONFIG_INST_GET(inst, _custom, _read_reg, _write_reg, _ocr, _cdr, \
 _min_bitrate) \
 CAN_SJA1000_DT_CONFIG_GET(DT_DRV_INST(inst), _custom, _read_reg, _write_reg, _ocr, _cdr, \
 _min_bitrate)
 
struct can_sja1000_rx_filter {
 struct can_filter filter;
 can_rx_callback_t callback;
 void *user_data;
};
 
struct can_sja1000_data {
 struct can_driver_data common;
 ATOMIC_DEFINE(rx_allocs, CONFIG_CAN_MAX_FILTER);
 struct can_sja1000_rx_filter filters[CONFIG_CAN_MAX_FILTER];
 struct k_mutex mod_lock;
 enum can_state state;
 struct k_sem tx_idle;
 can_tx_callback_t tx_callback;
 void *tx_user_data;
 void *custom;
};
 
#define CAN_SJA1000_DATA_INITIALIZER(_custom) \
 { \
 .custom = _custom, \
 }
 
int can_sja1000_set_timing(const struct device *dev, const struct can_timing *timing);
 
int can_sja1000_get_capabilities(const struct device *dev, can_mode_t *cap);
 
int can_sja1000_start(const struct device *dev);
 
int can_sja1000_stop(const struct device *dev);
 
int can_sja1000_set_mode(const struct device *dev, can_mode_t mode);
 
int can_sja1000_send(const struct device *dev, const struct can_frame *frame, k_timeout_t timeout,
 can_tx_callback_t callback, void *user_data);
 
int can_sja1000_add_rx_filter(const struct device *dev, can_rx_callback_t callback, void *user_data,
 const struct can_filter *filter);
 
void can_sja1000_remove_rx_filter(const struct device *dev, int filter_id);
 
#ifdef CONFIG_CAN_MANUAL_RECOVERY_MODE
int can_sja1000_recover(const struct device *dev, k_timeout_t timeout);
#endif /* CONFIG_CAN_MANUAL_RECOVERY_MODE */
 
int can_sja1000_get_state(const struct device *dev, enum can_state *state,
 struct can_bus_err_cnt *err_cnt);
 
void can_sja1000_set_state_change_callback(const struct device *dev,
 can_state_change_callback_t callback, void *user_data);
 
int can_sja1000_get_max_filters(const struct device *dev, bool ide);
 
void can_sja1000_isr(const struct device *dev);
 
int can_sja1000_init(const struct device *dev);
 
#endif /* ZEPHYR_INCLUDE_DRIVERS_CAN_CAN_SJA1000_H_ */