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hal: renesas: rz: Initial support for CAN
Initial HAL support for CAN Signed-off-by: Hieu Nguyen <[email protected]> Signed-off-by: Nhut Nguyen <[email protected]>
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‎drivers/rz/CMakeLists.txt

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@@ -41,3 +41,6 @@ zephyr_library_sources_ifdef(CONFIG_USE_RZ_FSP_EXT_IRQ
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zephyr_library_sources_ifdef(CONFIG_USE_RZ_FSP_GPT
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fsp/src/${SOC_SERIES_PREFIX}/r_gpt/r_gpt.c)
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zephyr_library_sources_ifdef(CONFIG_USE_RZ_FSP_CANFD
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fsp/src/${SOC_SERIES_PREFIX}/r_canfd/r_canfd.c)

‎drivers/rz/fsp/inc/api/r_can_api.h

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/*
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* Copyright (c) 2020 - 2024 Renesas Electronics Corporation and/or its affiliates
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*
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* SPDX-License-Identifier: BSD-3-Clause
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*/
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#ifndef R_CAN_API_H
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#define R_CAN_API_H
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/*******************************************************************************************************************//**
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* @ingroup RENESAS_INTERFACES
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* @defgroup CAN_API CAN Interface
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* @brief Interface for CAN peripheral
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*
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* @section CAN_INTERFACE_SUMMARY Summary
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* The CAN interface provides common APIs for CAN HAL drivers. CAN interface supports following features.
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* - Full-duplex CAN communication
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* - Generic CAN parameter setting
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* - Interrupt driven transmit/receive processing
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* - Callback function support with returning event code
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* - Hardware resource locking during a transaction
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*
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* Implemented by:
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* - @ref CANFD
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*
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* @{
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**********************************************************************************************************************/
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/***********************************************************************************************************************
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* Includes
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**********************************************************************************************************************/
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/* Includes board and MCU related header files. */
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#include "bsp_api.h"
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/* Common macro for FSP header files. There is also a corresponding FSP_FOOTER macro at the end of this file. */
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FSP_HEADER
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/**********************************************************************************************************************
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* Macro definitions
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**********************************************************************************************************************/
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#if BSP_FEATURE_CANFD_NUM_CHANNELS
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#define CAN_DATA_BUFFER_LENGTH (64)
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#else
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#define CAN_DATA_BUFFER_LENGTH (8)
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#endif
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/**********************************************************************************************************************
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* Typedef definitions
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**********************************************************************************************************************/
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/** CAN event codes */
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typedef enum e_can_event
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{
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CAN_EVENT_ERR_WARNING = 0x0002, ///< Error Warning event.
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CAN_EVENT_ERR_PASSIVE = 0x0004, ///< Error Passive event.
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CAN_EVENT_ERR_BUS_OFF = 0x0008, ///< Bus Off event.
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CAN_EVENT_BUS_RECOVERY = 0x0010, ///< Bus Off Recovery event.
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CAN_EVENT_MAILBOX_MESSAGE_LOST = 0x0020, ///< Mailbox has been overrun.
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CAN_EVENT_ERR_BUS_LOCK = 0x0080, ///< Bus lock detected (32 consecutive dominant bits).
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CAN_EVENT_ERR_CHANNEL = 0x0100, ///< Channel error has occurred.
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CAN_EVENT_TX_ABORTED = 0x0200, ///< Transmit abort event.
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CAN_EVENT_RX_COMPLETE = 0x0400, ///< Receive complete event.
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CAN_EVENT_TX_COMPLETE = 0x0800, ///< Transmit complete event.
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CAN_EVENT_ERR_GLOBAL = 0x1000, ///< Global error has occurred.
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CAN_EVENT_TX_FIFO_EMPTY = 0x2000, ///< Transmit FIFO is empty.
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CAN_EVENT_FIFO_MESSAGE_LOST = 0x4000, ///< Receive FIFO overrun.
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} can_event_t;
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/** CAN Operation modes */
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typedef enum e_can_operation_mode
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{
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CAN_OPERATION_MODE_NORMAL = 0, ///< CAN Normal Operation Mode
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CAN_OPERATION_MODE_RESET, ///< CAN Reset Operation Mode
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CAN_OPERATION_MODE_HALT, ///< CAN Halt Operation Mode
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CAN_OPERATION_MODE_SLEEP = 5, ///< CAN Sleep Operation Mode
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CAN_OPERATION_MODE_GLOBAL_OPERATION = 0x80, // CANFD Global Operation Mode
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CAN_OPERATION_MODE_GLOBAL_RESET, // CANFD Global Reset Mode
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CAN_OPERATION_MODE_GLOBAL_HALT, // CANFD Global Halt Mode
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CAN_OPERATION_MODE_GLOBAL_SLEEP = 0x85 // CANFD Global Sleep Mode
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} can_operation_mode_t;
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/** CAN Test modes */
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typedef enum e_can_test_mode
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{
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CAN_TEST_MODE_DISABLED = 0, ///< CAN Test Mode Disabled.
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CAN_TEST_MODE_LISTEN = 3, ///< CAN Test Listen Mode.
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CAN_TEST_MODE_LOOPBACK_EXTERNAL = 5, ///< CAN Test External Loopback Mode.
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CAN_TEST_MODE_LOOPBACK_INTERNAL = 7, ///< CAN Test Internal Loopback Mode.
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CAN_TEST_MODE_INTERNAL_BUS = 0x80 ///< CANFD Internal CAN Bus Communication Test Mode.
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} can_test_mode_t;
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/** CAN status info */
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typedef struct st_can_info
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{
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uint32_t status; ///< Useful information from the CAN status register.
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uint32_t rx_mb_status; ///< RX Message Buffer New Data flags.
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uint32_t rx_fifo_status; ///< RX FIFO Empty flags.
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uint8_t error_count_transmit; ///< Transmit error count.
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uint8_t error_count_receive; ///< Receive error count.
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uint32_t error_code; ///< Error code, cleared after reading.
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} can_info_t;
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/** CAN ID modes */
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typedef enum e_can_id_mode
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{
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CAN_ID_MODE_STANDARD, ///< Standard IDs of 11 bits used.
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CAN_ID_MODE_EXTENDED, ///< Extended IDs of 29 bits used.
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} can_id_mode_t;
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/** CAN frame types */
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typedef enum e_can_frame_type
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{
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CAN_FRAME_TYPE_DATA, ///< Data frame.
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CAN_FRAME_TYPE_REMOTE, ///< Remote frame.
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} can_frame_type_t;
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/** CAN bit rate configuration. */
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typedef struct st_can_bit_timing_cfg
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{
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uint32_t baud_rate_prescaler; ///< Baud rate prescaler. Valid values: 1 - 1024.
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uint32_t time_segment_1; ///< Time segment 1 control.
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uint32_t time_segment_2; ///< Time segment 2 control.
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uint32_t synchronization_jump_width; ///< Synchronization jump width.
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} can_bit_timing_cfg_t;
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/** CAN data Frame */
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typedef struct st_can_frame
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{
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uint32_t id; ///< CAN ID.
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can_id_mode_t id_mode; ///< Standard or Extended ID (IDE).
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can_frame_type_t type; ///< Frame type (RTR).
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uint8_t data_length_code; ///< CAN Data Length Code (DLC).
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uint32_t options; ///< Implementation-specific options.
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uint8_t data[CAN_DATA_BUFFER_LENGTH]; ///< CAN data.
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} can_frame_t;
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/** CAN callback parameter definition */
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typedef struct st_can_callback_args
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{
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uint32_t channel; ///< Device channel number.
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can_event_t event; ///< Event code.
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uint32_t error; ///< Error code.
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union
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{
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uint32_t mailbox; ///< Mailbox number of interrupt source.
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uint32_t buffer; ///< Buffer number of interrupt source.
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};
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void const * p_context; ///< Context provided to user during callback.
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can_frame_t frame; ///< Received frame data.
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} can_callback_args_t;
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/** CAN Configuration */
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typedef struct st_can_cfg
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{
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/* CAN generic configuration */
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uint32_t channel; ///< CAN channel.
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can_bit_timing_cfg_t * p_bit_timing; ///< CAN bit timing.
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/* Configuration for CAN Event processing */
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void (* p_callback)(can_callback_args_t * p_args); ///< Pointer to callback function
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void const * p_context; ///< User defined callback context.
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/* Pointer to CAN peripheral specific configuration */
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void const * p_extend; ///< CAN hardware dependent configuration
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uint8_t ipl; ///< Error/Transmit/Receive interrupt priority
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IRQn_Type error_irq; ///< Error IRQ number
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IRQn_Type rx_irq; ///< Receive IRQ number
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IRQn_Type tx_irq; ///< Transmit IRQ number
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} can_cfg_t;
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/** CAN control block. Allocate an instance specific control block to pass into the CAN API calls.
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* @par Implemented as
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* - can_instance_ctrl_t
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* - canfd_instance_ctrl_t
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*/
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typedef void can_ctrl_t;
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/** Shared Interface definition for CAN */
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typedef struct st_can_api
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{
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/** Open function for CAN device
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* @par Implemented as
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* - R_CAN_Open()
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* - R_CANFD_Open()
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*
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* @param[in,out] p_ctrl Pointer to the CAN control block. Must be declared by user. Value set here.
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* @param[in] p_cfg Pointer to CAN configuration structure. All elements of this structure must be set by
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* user.
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*/
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fsp_err_t (* open)(can_ctrl_t * const p_ctrl, can_cfg_t const * const p_cfg);
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/** Write function for CAN device
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* @par Implemented as
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* - R_CAN_Write()
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* - R_CANFD_Write()
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* @param[in] p_ctrl Pointer to the CAN control block.
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* @param[in] buffer Buffer number (mailbox or message buffer) to write to.
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* @param[in] p_frame Pointer for frame of CAN ID, DLC, data and frame type to write.
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*/
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fsp_err_t (* write)(can_ctrl_t * const p_ctrl, uint32_t buffer_number, can_frame_t * const p_frame);
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/** Read function for CAN device
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* @par Implemented as
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* - R_CANFD_Read()
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* @param[in] p_ctrl Pointer to the CAN control block.
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* @param[in] buffer Message buffer (number) to read from.
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* @param[in] p_frame Pointer to store the CAN ID, DLC, data and frame type.
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*/
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fsp_err_t (* read)(can_ctrl_t * const p_ctrl, uint32_t buffer_number, can_frame_t * const p_frame);
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/** Close function for CAN device
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* @par Implemented as
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* - R_CAN_Close()
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* - R_CANFD_Close()
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* @param[in] p_ctrl Pointer to the CAN control block.
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*/
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fsp_err_t (* close)(can_ctrl_t * const p_ctrl);
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/** Mode Transition function for CAN device
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* @par Implemented as
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* - R_CAN_ModeTransition()
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* - R_CANFD_ModeTransition()
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* @param[in] p_ctrl Pointer to the CAN control block.
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* @param[in] operation_mode Destination CAN operation state.
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* @param[in] test_mode Destination CAN test state.
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*/
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fsp_err_t (* modeTransition)(can_ctrl_t * const p_api_ctrl, can_operation_mode_t operation_mode,
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can_test_mode_t test_mode);
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/** Get CAN channel info.
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* @par Implemented as
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* - R_CAN_InfoGet()
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* - R_CANFD_InfoGet()
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*
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* @param[in] p_ctrl Handle for channel (pointer to channel control block)
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* @param[out] p_info Memory address to return channel specific data to.
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*/
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fsp_err_t (* infoGet)(can_ctrl_t * const p_ctrl, can_info_t * const p_info);
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/** Specify callback function and optional context pointer and working memory pointer.
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* @par Implemented as
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* - R_CAN_CallbackSet()
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* - R_CANFD_CallbackSet()
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*
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* @param[in] p_ctrl Control block set in @ref can_api_t::open call.
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* @param[in] p_callback Callback function to register
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* @param[in] p_context Pointer to send to callback function
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* @param[in] p_working_memory Pointer to volatile memory where callback structure can be allocated.
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* Callback arguments allocated here are only valid during the callback.
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*/
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fsp_err_t (* callbackSet)(can_ctrl_t * const p_api_ctrl, void (* p_callback)(can_callback_args_t *),
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void const * const p_context, can_callback_args_t * const p_callback_memory);
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} can_api_t;
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/** This structure encompasses everything that is needed to use an instance of this interface. */
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typedef struct st_can_instance
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{
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can_ctrl_t * p_ctrl; ///< Pointer to the control structure for this instance
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can_cfg_t const * p_cfg; ///< Pointer to the configuration structure for this instance
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can_api_t const * p_api; ///< Pointer to the API structure for this instance
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} can_instance_t;
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/*******************************************************************************************************************//**
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* @} (end addtogroup CAN_API)
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**********************************************************************************************************************/
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/* Common macro for FSP header files. There is also a corresponding FSP_HEADER macro at the top of this file. */
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FSP_FOOTER
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#endif

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