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drivers/can: ctucanfd the first round of fixes - mainly for char dev

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Corrected CAN FD messages sending in character driver mode.
Assign CAN FD format flag in reception of CAN FD messages.
Corrected some defines mismatches.

The code has been tested in QEMU

qemu-system-x86_64 -m 2G -enable-kvm -smp 1 \
  -cpu host,+pcid,+x2apic,+tsc-deadline,+xsave,+rdrand \
  -kernel nuttx/nuttx \
  -nographic -serial mon:stdio \
  -object can-bus,id=canbus0-bus \
  -object can-host-socketcan,if=can0,canbus=canbus0-bus,id=canbus0-socketcan \
  -device ctucan_pci,canbus0=canbus0-bus,canbus1=canbus0-bus

The overall state of this third party CTU CAN FD driver in NuttX
is far from ideal. It would worth to consult and follow more
closely our Linux kernel driver and even better RTEMS CAN/CAN FD
stack design

  https://canbus.pages.fel.cvut.cz/#cancan-fd-subsystem-and-drivers-for-rtems

Signed-off-by: Pavel Pisa <pisa@fel.cvut.cz>
This commit is contained in:
Pavel Pisa
2025-01-15 10:48:12 +01:00
committed by Mateusz Szafoni
parent 61f0c97193
commit 46c3f354b3
1 changed files with 15 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
drivers/can/ctucanfd_pci.c
+15 -4
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@@ -626,7 +626,7 @@ static int ctucanfd_chrdev_send(FAR struct can_dev_s *dev,
fmt.s.rtr = msg->cm_hdr.ch_rtr;
#ifdef CONFIG_NET_CAN_EXTID
#ifdef CONFIG_CAN_EXTID
if (msg->cm_hdr.ch_extid)
{
fmt.s.ide = 1;
@@ -639,6 +639,15 @@ static int ctucanfd_chrdev_send(FAR struct can_dev_s *dev,
id.s.id = msg->cm_hdr.ch_id;
}
#ifdef CONFIG_CAN_FD
/* Set CAN FD specific flags */
fmt.s.brs = msg->cm_hdr.ch_brs;
fmt.s.esi_rsv = msg->cm_hdr.ch_esi;
fmt.s.fdf = msg->cm_hdr.ch_edl;
#endif
/* Write frame */
ctucanfd_putreg(priv, offset + CTUCANFD_TXBUF_FMT, fmt.u32);
@@ -800,7 +809,7 @@ static void ctucanfd_chardev_receive(FAR struct ctucanfd_can_s *priv)
#ifdef CONFIG_CAN_FD
hdr.ch_esi = frame.fmt.esi_rsv;
hdr.ch_edl = 0;
hdr.ch_edl = frame.fmt.fdf;
hdr.ch_brs = frame.fmt.brs;
#else
if (frame.fmt.fdf)
@@ -1808,6 +1817,7 @@ static int ctucanfd_probe(FAR struct pci_device_s *dev)
if (!priv->bar0_base)
{
pcierr("Not found BAR0\n");
ret = -ENODEV;
goto errout;
}
@@ -1823,6 +1833,7 @@ static int ctucanfd_probe(FAR struct pci_device_s *dev)
if (!priv->canfd_base)
{
pcierr("Not found CANFD bar\n");
ret = -ENODEV;
goto errout;
}
@@ -1922,11 +1933,11 @@ errout:
{
if (priv->devs[i].pcidev)
{
#ifdef CONFIG_CAN_KVASER_SOCKET
#ifdef CONFIG_CAN_CTUCANFD_SOCKET
netdev_unregister(&priv->devs[i].dev);
#endif
#ifdef CONFIG_CAN_KVASER_CHARDEV
#ifdef CONFIG_CAN_CTUCANFD_CHARDEV
unregister_driver(devpath);
#endif
}