Add support for Xilinx CANFD #97341
Add support for Xilinx CANFD #97341
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The Xilinx CANFD enhances traditional CAN communication by supporting higher data rates and improved efficiency, making it suitable for applications that require real-time data transfer, such as automotive and industrial systems. Xilinx CANFD supports data rates of up to 8 Mbps, allowing for faster communication compared to standard CAN. The protocol supports longer data frames, enabling the transmission of larger data packets and compatible with both classical CAN and CANFD protocols. Signed-off-by: Sai Priya M <[email protected]>
Add support for Xilinx CANFD with CAN and CANFD functionality. Features: -Classic CAN 2.0A/B support (11-bit and 29-bit IDs). -CANFD support with up to 64-byte data frames. -Multiple operating modes: Normal, Loopback, Listen-only, Sleep. -Configurable bit timing for arbitration and data phases. -Single TX mailbox with interrupt-driven transmission. -RX FIFO with multi-frame buffering. -Comprehensive error handling and state management. -Thread-safe operation with mutex protection. -Power management with sleep/wake-up support. Signed-off-by: Sai Priya M <[email protected]>
Add CANFD nodes to device tree for Versal-NET platform. Signed-off-by: Sai Priya M <[email protected]>
Add support for CANFD in Versal-NET RPU platform. Signed-off-by: Sai Priya M <[email protected]>
Add conditional compilation to handle both classic CAN and CANFD frames when running on Xilinx CANFD. Add CONFIG_CAN_FD_MODE and CONFIG_LOOPBACK_MODE to can_xilinx_canfd.conf Signed-off-by: Sai Priya M <[email protected]>
Add CONFIG_XILINX_CANFD guards to disable test cases for features not supported by the Xilinx CANFD driver: - Acceptance filter tests. - Recovery API tests. Signed-off-by: Sai Priya M <[email protected]>
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Hello @smuthoju, and thank you very much for your first pull request to the Zephyr project! |
zephyrbot
added
area: Boards/SoCs
area: Tests
zephyrbot
requested review from
JarmouniA,
alexanderwachter,
decsny,
henrikbrixandersen,
ibirnbaum,
kartben,
martinjaeger,
mbolivar,
michalsimek,
nashif,
rruuaanng and
str4t0m
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| #include "common.h" | ||
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| #ifndef CONFIG_CAN_XILINX_CANFD |
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Please do not modify any tests, but make the driver pass the test.
The tests are verifying if the driver fulfills the contract of the api. If the test does not pass, the driver cannot go in.
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Agreed. Please address this and the remaining comments from @alexanderwachter.
| filter_id = can_add_rx_filter_msgq(can_dev, &counter_msgq, &filter); | ||
| printf("Counter filter id: %d\n", filter_id); | ||
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| #if CONFIG_CAN_XILINX_CANFD |
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Please do not modify the sample code. This code needs to be able to run on any platform!
| @@ -0,0 +1,2 @@ | |||
| CONFIG_CAN_FD_MODE=y | |||
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No device specific config for samples!
| */ | ||
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| / { | ||
| soc: soc { |
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Only can specific changes in this PR
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| config CAN_XILINX_CANFD | ||
| bool "Xilinx CANFD driver" | ||
| default y |
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Depends on dts node okay missing
| (dwindex * XCANFD_DW_BYTES); | ||
| reg_data = xcanfd_read32(config, dw_offset); | ||
| reg_data = BSWAP_32(reg_data); | ||
| copy_len = (len - i) > 4 ? 4 : (len - i); |
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| if (len > 0 && len <= sizeof(frame.data)) { | ||
| for (int i = 0; i < len; i += 4) { | ||
| dw_offset = XCANFD_FRAME_DW_OFFSET(offset) + |
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Why such a long calculation?
Just enhance i with the DW size?
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| if (data->rx_callback != NULL) { | ||
| data->rx_callback(dev, &frame, data->rx_callback_arg); | ||
| frame_consumed = true; |
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No need for frame_consumed
| struct xcanfd_data *data = dev->data; | ||
| uint32_t isr; | ||
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| if (dev == NULL) { |
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How should this ever happen?
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| if (isr & XCANFD_IXR_ARBLST_MASK) { | ||
| xcanfd_write32(config, XCANFD_ICR_OFFSET, XCANFD_IXR_ARBLST_MASK); | ||
| k_mutex_lock(&data->inst_mutex, K_FOREVER); |
4 participants
This patch set does the following: