can_sja1000.h

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/*
 * Copyright (c) 2022 Henrik Brix Andersen <henrik@brixandersen.dk>
 *
 * 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 {
        can_sja1000_read_reg_t read_reg;
        can_sja1000_write_reg_t write_reg;
        uint32_t bitrate;
        uint32_t sample_point;
        uint32_t sjw;
        uint32_t phase_seg1;
        uint32_t phase_seg2;
        const struct device *phy;
        uint32_t max_bitrate;
        uint8_t ocr;
        uint8_t cdr;
        const void *custom;
};
 
#define CAN_SJA1000_DT_CONFIG_GET(node_id, _custom, _read_reg, _write_reg, _ocr, _cdr)             \
        {                                                                                          \
                .read_reg = _read_reg, .write_reg = _write_reg,                                    \
                .bitrate = DT_PROP(node_id, bus_speed), .sjw = DT_PROP(node_id, sjw),              \
                .phase_seg1 = DT_PROP_OR(node_id, phase_seg1, 0),                                  \
                .phase_seg2 = DT_PROP_OR(node_id, phase_seg2, 0),                                  \
                .sample_point = DT_PROP_OR(node_id, sample_point, 0),                              \
                .max_bitrate = DT_CAN_TRANSCEIVER_MAX_BITRATE(node_id, 1000000),                   \
                .phy = DEVICE_DT_GET_OR_NULL(DT_PHANDLE(node_id, phys)),                           \
                .ocr = _ocr, .cdr = _cdr, .custom = _custom,                                       \
        }
 
#define CAN_SJA1000_DT_CONFIG_INST_GET(inst, _custom, _read_reg, _write_reg, _ocr, _cdr)           \
        CAN_SJA1000_DT_CONFIG_GET(DT_DRV_INST(inst), _custom, _read_reg, _write_reg, _ocr, _cdr)
 
struct can_sja1000_rx_filter {
        struct can_filter filter;
        can_rx_callback_t callback;
        void *user_data;
};
 
struct can_sja1000_data {
        ATOMIC_DEFINE(rx_allocs, CONFIG_CAN_MAX_FILTER);
        struct can_sja1000_rx_filter filters[CONFIG_CAN_MAX_FILTER];
        struct k_mutex mod_lock;
        bool started;
        can_mode_t mode;
        enum can_state state;
        can_state_change_callback_t state_change_cb;
        void *state_change_cb_data;
        struct k_sem tx_idle;
        can_tx_callback_t tx_callback;
        void *tx_user_data;
        uint32_t sjw;
        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);
 
#ifndef CONFIG_CAN_AUTO_BUS_OFF_RECOVERY
int can_sja1000_recover(const struct device *dev, k_timeout_t timeout);
#endif /* !CONFIG_CAN_AUTO_BUS_OFF_RECOVERY */
 
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);
 
int can_sja1000_get_max_bitrate(const struct device *dev, uint32_t *max_bitrate);
 
void can_sja1000_isr(const struct device *dev);
 
int can_sja1000_init(const struct device *dev);
 
#endif /* ZEPHYR_INCLUDE_DRIVERS_CAN_CAN_SJA1000_H_ */