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cyliangtwMaureenHelm
cyliangtw
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MaureenHelm
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drivers: can: support for Nuvoton numaker series
Add Nuvoton numaker series can-fd controller based on mcan. Signed-off-by: cyliang tw <[email protected]>
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‎boards/arm/numaker_pfm_m467/numaker_pfm_m467-pinctrl.dtsi

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@@ -24,4 +24,12 @@
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<PC9MFP_GPIO>;
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};
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};
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/* CAN TX/RX --> PJ10/PJ11 */
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canfd0_default: canfd0_default {
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group0 {
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pinmux = <PJ10MFP_CAN0_TXD>,
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<PJ11MFP_CAN0_RXD>;
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};
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};
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};

‎boards/arm/numaker_pfm_m467/numaker_pfm_m467.dts

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@@ -29,6 +29,7 @@
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zephyr,sram = &sram0;
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zephyr,flash = &flash0;
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zephyr,code-partition = &slot0_partition;
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zephyr,canbus = &canfd0;
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};
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@@ -108,3 +109,11 @@
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pinctrl-names = "default";
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status = "okay";
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};
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&canfd0 {
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bus-speed = <125000>;
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bus-speed-data = <1000000>;
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pinctrl-0 = <&canfd0_default>;
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pinctrl-names = "default";
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status = "okay";
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};

‎drivers/can/CMakeLists.txt

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@@ -19,6 +19,7 @@ zephyr_library_sources_ifdef(CONFIG_CAN_STM32_FDCAN can_stm32_fdcan.c)
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zephyr_library_sources_ifdef(CONFIG_CAN_STM32H7_FDCAN can_stm32h7_fdcan.c)
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zephyr_library_sources_ifdef(CONFIG_CAN_TCAN4X5X can_tcan4x5x.c)
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zephyr_library_sources_ifdef(CONFIG_CAN_RCAR can_rcar.c)
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zephyr_library_sources_ifdef(CONFIG_CAN_NUMAKER can_numaker.c)
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if(CONFIG_CAN_NATIVE_POSIX_LINUX)
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if(${CMAKE_HOST_SYSTEM_NAME} STREQUAL Linux)

‎drivers/can/Kconfig

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@@ -92,6 +92,7 @@ source "drivers/can/Kconfig.mcux"
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source "drivers/can/Kconfig.mcp2515"
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source "drivers/can/Kconfig.mcan"
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source "drivers/can/Kconfig.rcar"
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source "drivers/can/Kconfig.numaker"
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source "drivers/can/Kconfig.loopback"
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source "drivers/can/Kconfig.native_posix_linux"
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source "drivers/can/Kconfig.sja1000"

‎drivers/can/Kconfig.numaker

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@@ -0,0 +1,13 @@
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# NuMaker CAN(-FD) driver configuration options
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# Copyright (c) 2023 Nuvoton Technology Corporation
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# SPDX-License-Identifier: Apache-2.0
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config CAN_NUMAKER
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bool "Nuvoton NuMaker CAN-FD driver"
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default y
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select CAN_MCAN
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depends on DT_HAS_NUVOTON_NUMAKER_CANFD_ENABLED
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depends on SOC_SERIES_M46X
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help
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Enables Nuvoton NuMaker CAN-FD driver, using Bosch M_CAN

‎drivers/can/can_numaker.c

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/*
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* Copyright (c) 2023 Nuvoton Technology Corporation.
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#define DT_DRV_COMPAT nuvoton_numaker_canfd
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#include <zephyr/drivers/reset.h>
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#include <zephyr/drivers/pinctrl.h>
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#include <zephyr/drivers/can.h>
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#include <zephyr/drivers/can/can_mcan.h>
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#include <zephyr/drivers/clock_control.h>
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#include <zephyr/drivers/clock_control/clock_control_numaker.h>
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#include <zephyr/logging/log.h>
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#include <soc.h>
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#include <NuMicro.h>
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LOG_MODULE_REGISTER(can_numaker, CONFIG_CAN_LOG_LEVEL);
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/* CANFD Clock Source Selection */
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#define NUMAKER_CANFD_CLKSEL_HXT 0
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#define NUMAKER_CANFD_CLKSEL_PLL_DIV2 1
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#define NUMAKER_CANFD_CLKSEL_HCLK 2
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#define NUMAKER_CANFD_CLKSEL_HIRC 3
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/* Implementation notes
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* 1. Use Bosch M_CAN driver (m_can) as backend
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* 2. Need to modify can_numaker_get_core_clock() for new SOC support
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*/
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struct can_numaker_config {
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mm_reg_t canfd_base;
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mem_addr_t mrba;
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mem_addr_t mram;
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const struct reset_dt_spec reset;
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uint32_t clk_modidx;
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uint32_t clk_src;
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uint32_t clk_div;
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const struct device *clk_dev;
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void (*irq_config_func)(const struct device *dev);
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const struct pinctrl_dev_config *pincfg;
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};
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static int can_numaker_get_core_clock(const struct device *dev, uint32_t *rate)
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{
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const struct can_mcan_config *mcan_config = dev->config;
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const struct can_numaker_config *config = mcan_config->custom;
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uint32_t clksrc_rate_idx;
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uint32_t clkdiv_divider;
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/* Module clock source rate */
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clksrc_rate_idx = CLK_GetModuleClockSource(config->clk_modidx);
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/* Module clock divider */
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clkdiv_divider = CLK_GetModuleClockDivider(config->clk_modidx) + 1;
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switch (clksrc_rate_idx) {
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case NUMAKER_CANFD_CLKSEL_HXT:
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*rate = __HXT / clkdiv_divider;
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break;
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case NUMAKER_CANFD_CLKSEL_PLL_DIV2:
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*rate = (CLK_GetPLLClockFreq() / 2) / clkdiv_divider;
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break;
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case NUMAKER_CANFD_CLKSEL_HCLK:
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*rate = CLK_GetHCLKFreq() / clkdiv_divider;
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break;
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case NUMAKER_CANFD_CLKSEL_HIRC:
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*rate = __HIRC / clkdiv_divider;
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break;
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default:
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LOG_ERR("Invalid clock source rate index");
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return -EIO;
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}
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LOG_DBG("Clock rate index/divider: %d/%d", clksrc_rate_idx, clkdiv_divider);
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return 0;
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}
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static inline int can_numaker_init_unlocked(const struct device *dev)
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{
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const struct can_mcan_config *mcan_config = dev->config;
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const struct can_numaker_config *config = mcan_config->custom;
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struct numaker_scc_subsys scc_subsys;
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int rc;
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memset(&scc_subsys, 0x00, sizeof(scc_subsys));
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scc_subsys.subsys_id = NUMAKER_SCC_SUBSYS_ID_PCC;
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scc_subsys.pcc.clk_modidx = config->clk_modidx;
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scc_subsys.pcc.clk_src = config->clk_src;
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scc_subsys.pcc.clk_div = config->clk_div;
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/* To enable clock */
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rc = clock_control_on(config->clk_dev, (clock_control_subsys_t) &scc_subsys);
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if (rc < 0) {
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return rc;
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}
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/* To set module clock */
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rc = clock_control_configure(config->clk_dev, (clock_control_subsys_t)&scc_subsys, NULL);
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if (rc < 0) {
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return rc;
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}
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/* Configure pinmux (NuMaker's SYS MFP) */
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rc = pinctrl_apply_state(config->pincfg, PINCTRL_STATE_DEFAULT);
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if (rc < 0) {
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return rc;
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}
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/* Reset CAN to default state, same as BSP's SYS_ResetModule(id_rst) */
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reset_line_toggle_dt(&config->reset);
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config->irq_config_func(dev);
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rc = can_mcan_configure_mram(dev, config->mrba, config->mram);
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if (rc != 0) {
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return rc;
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}
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rc = can_mcan_init(dev);
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if (rc < 0) {
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LOG_ERR("Failed to initialize mcan: %d", rc);
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return rc;
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}
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#if CONFIG_CAN_LOG_LEVEL >= LOG_LEVEL_DBG
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uint32_t rate;
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rc = can_numaker_get_core_clock(dev, &rate);
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if (rc < 0) {
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return rc;
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}
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LOG_DBG("CAN core clock: %d", rate);
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#endif
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return rc;
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}
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static int can_numaker_init(const struct device *dev)
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{
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const struct can_mcan_config *mcan_config = dev->config;
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const struct can_numaker_config *config = mcan_config->custom;
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int rc;
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if (!device_is_ready(config->reset.dev)) {
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LOG_ERR("reset controller not ready");
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return -ENODEV;
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}
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if (!device_is_ready(config->clk_dev)) {
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LOG_ERR("clock controller not ready");
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return -ENODEV;
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}
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SYS_UnlockReg();
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rc = can_numaker_init_unlocked(dev);
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SYS_LockReg();
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return rc;
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}
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static const struct can_driver_api can_numaker_driver_api = {
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.get_capabilities = can_mcan_get_capabilities,
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.start = can_mcan_start,
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.stop = can_mcan_stop,
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.set_mode = can_mcan_set_mode,
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.set_timing = can_mcan_set_timing,
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.send = can_mcan_send,
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.add_rx_filter = can_mcan_add_rx_filter,
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.remove_rx_filter = can_mcan_remove_rx_filter,
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#ifndef CONFIG_CAN_AUTO_BUS_OFF_RECOVERY
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.recover = can_mcan_recover,
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#endif /* CONFIG_CAN_AUTO_BUS_OFF_RECOVERY */
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.get_state = can_mcan_get_state,
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.set_state_change_callback = can_mcan_set_state_change_callback,
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.get_core_clock = can_numaker_get_core_clock,
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.get_max_filters = can_mcan_get_max_filters,
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.get_max_bitrate = can_mcan_get_max_bitrate,
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.timing_min = CAN_MCAN_TIMING_MIN_INITIALIZER,
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.timing_max = CAN_MCAN_TIMING_MAX_INITIALIZER,
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#ifdef CONFIG_CAN_FD_MODE
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.set_timing_data = can_mcan_set_timing_data,
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.timing_data_min = CAN_MCAN_TIMING_DATA_MIN_INITIALIZER,
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.timing_data_max = CAN_MCAN_TIMING_DATA_MAX_INITIALIZER,
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#endif /* CONFIG_CAN_FD_MODE */
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};
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static int can_numaker_read_reg(const struct device *dev, uint16_t reg, uint32_t *val)
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{
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const struct can_mcan_config *mcan_cfg = dev->config;
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const struct can_numaker_config *numaker_cfg = mcan_cfg->custom;
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return can_mcan_sys_read_reg(numaker_cfg->canfd_base, reg, val);
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}
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static int can_numaker_write_reg(const struct device *dev, uint16_t reg, uint32_t val)
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{
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const struct can_mcan_config *mcan_cfg = dev->config;
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const struct can_numaker_config *numaker_cfg = mcan_cfg->custom;
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return can_mcan_sys_write_reg(numaker_cfg->canfd_base, reg, val);
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}
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static int can_numaker_read_mram(const struct device *dev, uint16_t offset, void *dst, size_t len)
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{
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const struct can_mcan_config *mcan_cfg = dev->config;
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const struct can_numaker_config *numaker_cfg = mcan_cfg->custom;
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return can_mcan_sys_read_mram(numaker_cfg->mram, offset, dst, len);
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}
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static int can_numaker_write_mram(const struct device *dev, uint16_t offset, const void *src,
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size_t len)
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{
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const struct can_mcan_config *mcan_cfg = dev->config;
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const struct can_numaker_config *numaker_cfg = mcan_cfg->custom;
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return can_mcan_sys_write_mram(numaker_cfg->mram, offset, src, len);
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}
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static int can_numaker_clear_mram(const struct device *dev, uint16_t offset, size_t len)
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{
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const struct can_mcan_config *mcan_cfg = dev->config;
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const struct can_numaker_config *numaker_cfg = mcan_cfg->custom;
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return can_mcan_sys_clear_mram(numaker_cfg->mram, offset, len);
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}
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static const struct can_mcan_ops can_numaker_ops = {
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.read_reg = can_numaker_read_reg,
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.write_reg = can_numaker_write_reg,
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.read_mram = can_numaker_read_mram,
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.write_mram = can_numaker_write_mram,
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.clear_mram = can_numaker_clear_mram,
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};
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#define NUMAKER_CLKCTRL_DEV_INIT(inst) \
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.clk_dev = DEVICE_DT_GET(DT_PARENT(DT_INST_CLOCKS_CTLR(inst))),
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#define NUMAKER_PINCTRL_DEFINE(inst) \
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PINCTRL_DT_INST_DEFINE(inst);
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#define NUMAKER_PINCTRL_INIT(inst) \
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.pincfg = PINCTRL_DT_INST_DEV_CONFIG_GET(inst),
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#define CAN_NUMAKER_INIT(inst) \
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NUMAKER_PINCTRL_DEFINE(inst); \
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CAN_MCAN_DT_INST_CALLBACKS_DEFINE(inst, can_numaker_cbs_##inst); \
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\
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static void can_numaker_irq_config_func_##inst(const struct device *dev) \
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{ \
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IRQ_CONNECT(DT_INST_IRQ_BY_IDX(inst, 0, irq), \
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DT_INST_IRQ_BY_IDX(inst, 0, priority), \
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can_mcan_line_0_isr, \
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DEVICE_DT_INST_GET(inst), \
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0); \
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irq_enable(DT_INST_IRQ_BY_IDX(inst, 0, irq)); \
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IRQ_CONNECT(DT_INST_IRQ_BY_IDX(inst, 1, irq), \
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DT_INST_IRQ_BY_IDX(inst, 1, priority), \
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can_mcan_line_1_isr, \
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DEVICE_DT_INST_GET(inst), \
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0); \
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irq_enable(DT_INST_IRQ_BY_IDX(inst, 1, irq)); \
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} \
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\
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static const struct can_numaker_config can_numaker_config_##inst = { \
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.canfd_base = CAN_MCAN_DT_INST_MCAN_ADDR(inst), \
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.mrba = CAN_MCAN_DT_INST_MRBA(inst), \
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.mram = CAN_MCAN_DT_INST_MRAM_ADDR(inst), \
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.reset = RESET_DT_SPEC_INST_GET(inst), \
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.clk_modidx = DT_INST_CLOCKS_CELL(inst, clock_module_index), \
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.clk_src = DT_INST_CLOCKS_CELL(inst, clock_source), \
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.clk_div = DT_INST_CLOCKS_CELL(inst, clock_divider), \
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NUMAKER_CLKCTRL_DEV_INIT(inst) \
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.irq_config_func = can_numaker_irq_config_func_##inst, \
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NUMAKER_PINCTRL_INIT(inst) \
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}; \
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\
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static const struct can_mcan_config can_mcan_config_##inst = \
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CAN_MCAN_DT_CONFIG_INST_GET(inst, \
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&can_numaker_config_##inst, \
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&can_numaker_ops, \
283+
&can_numaker_cbs_##inst); \
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\
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static uint32_t can_numaker_data_##inst; \
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\
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static struct can_mcan_data can_mcan_data_##inst = \
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CAN_MCAN_DATA_INITIALIZER(&can_numaker_data_ ## inst); \
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\
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CAN_DEVICE_DT_INST_DEFINE(inst, \
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&can_numaker_init, \
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NULL, \
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&can_mcan_data_##inst, \
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&can_mcan_config_##inst, \
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POST_KERNEL, \
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CONFIG_CAN_INIT_PRIORITY, \
297+
&can_numaker_driver_api); \
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DT_INST_FOREACH_STATUS_OKAY(CAN_NUMAKER_INIT);

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