diff --git a/arch/arm/src/kinetis/Kconfig b/arch/arm/src/kinetis/Kconfig index 8a945a45d87..ad64c490df7 100644 --- a/arch/arm/src/kinetis/Kconfig +++ b/arch/arm/src/kinetis/Kconfig @@ -317,6 +317,8 @@ config ARCH_FAMILY_K66 select KINETIS_HAVE_TPM1 select KINETIS_HAVE_TPM2 select KINETIS_HAVE_DMA + select KINETIS_HAVE_FLEXCAN0 + select KINETIS_HAVE_FLEXCAN1 menu "Kinetis Peripheral Support" @@ -356,6 +358,14 @@ config KINETIS_HAVE_TPM2 bool default n +config KINETIS_HAVE_FLEXCAN0 + bool + default n + +config KINETIS_HAVE_FLEXCAN1 + bool + default n + config KINETIS_TRACE bool "Trace" default n @@ -502,15 +512,23 @@ config KINETIS_RNGB select ARCH_HAVE_RNG ---help--- Support the random number generator(K6x only) + +config KINETIS_FLEXCAN + bool + default n config KINETIS_FLEXCAN0 - bool "FlexCAN0" + bool "FLEXCAN0" + select KINETIS_FLEXCAN + select NET_CAN_HAVE_TX_DEADLINE default n ---help--- Support FlexCAN0 config KINETIS_FLEXCAN1 - bool "FlexCAN1" + bool "FLEXCAN1" + select KINETIS_FLEXCAN + select NET_CAN_HAVE_TX_DEADLINE default n ---help--- Support FlexCAN1 @@ -930,7 +948,7 @@ config KINETIS_ENET_NORXER ---help--- If selected, then the MII/RMII RXER output will be configured as a GPIO and pulled low. - + choice prompt "RMII Clock Source" default KINETIS_EMAC_RMIICLKEXTAL @@ -947,6 +965,76 @@ config KINETIS_EMAC_RMIICLK1588CLKIN endchoice # RMII Clock Source endmenu # Kinetis Ethernet Configuration +menu "Kinetis FLEXCAN0 Configuration" + depends on KINETIS_FLEXCAN0 + +config FLEXCAN0_BITRATE + int "CAN bitrate" + depends on !NET_CAN_CANFD + default 1000000 + +config FLEXCAN0_SAMPLEP + int "CAN sample point" + depends on !NET_CAN_CANFD + default 75 + +config FLEXCAN0_ARBI_BITRATE + int "CAN FD Arbitration phase bitrate" + depends on NET_CAN_CANFD + default 1000000 + +config FLEXCAN0_ARBI_SAMPLEP + int "CAN FD Arbitration phase sample point" + depends on NET_CAN_CANFD + default 80 + +config FLEXCAN0_DATA_BITRATE + int "CAN FD Arbitration phase bitrate" + depends on NET_CAN_CANFD + default 4000000 + +config FLEXCAN0_DATA_SAMPLEP + int "CAN FD Arbitration phase sample point" + depends on NET_CAN_CANFD + default 90 + +endmenu # KINETIS_FLEXCAN0 + +menu "Kinetis FLEXCAN1 Configuration" + depends on KINETIS_FLEXCAN1 + +config FLEXCAN1_BITRATE + int "CAN bitrate" + depends on !NET_CAN_CANFD + default 1000000 + +config FLEXCAN1_SAMPLEP + int "CAN sample point" + depends on !NET_CAN_CANFD + default 75 + +config FLEXCAN1_ARBI_BITRATE + int "CAN FD Arbitration phase bitrate" + depends on NET_CAN_CANFD + default 1000000 + +config FLEXCAN1_ARBI_SAMPLEP + int "CAN FD Arbitration phase sample point" + depends on NET_CAN_CANFD + default 80 + +config FLEXCAN1_DATA_BITRATE + int "CAN FD Arbitration phase bitrate" + depends on NET_CAN_CANFD + default 4000000 + +config FLEXCAN1_DATA_SAMPLEP + int "CAN FD Arbitration phase sample point" + depends on NET_CAN_CANFD + default 90 + +endmenu # KINETIS_FLEXCAN1 + menu "Kinetis SDHC Configuration" depends on KINETIS_SDHC diff --git a/arch/arm/src/kinetis/Make.defs b/arch/arm/src/kinetis/Make.defs index d4164f76dd0..aba8fe38206 100644 --- a/arch/arm/src/kinetis/Make.defs +++ b/arch/arm/src/kinetis/Make.defs @@ -175,4 +175,11 @@ ifeq ($(CONFIG_NET),y) ifeq ($(CONFIG_KINETIS_ENET),y) CHIP_CSRCS += kinetis_enet.c endif + +ifeq ($(CONFIG_NET_CAN),y) +ifeq ($(CONFIG_KINETIS_FLEXCAN),y) +CHIP_CSRCS += kinetis_flexcan.c +endif +endif + endif diff --git a/arch/arm/src/kinetis/hardware/kinetis_flexcan.h b/arch/arm/src/kinetis/hardware/kinetis_flexcan.h index 32f4fad1106..a7b198ef324 100644 --- a/arch/arm/src/kinetis/hardware/kinetis_flexcan.h +++ b/arch/arm/src/kinetis/hardware/kinetis_flexcan.h @@ -68,6 +68,8 @@ #define KINETIS_CAN_RXFGMASK_OFFSET 0x0048 /* Rx FIFO Global Mask Register */ #define KINETIS_CAN_RXFIR_OFFSET 0x004c /* Rx FIFO Information Register */ +#define KINETIS_CAN_MB_OFFSET 0x0080 /* CAN MB register */ + #define KINETIS_CAN_RXIMR_OFFSET(n) (0x0880+((n)<<2)) /* Rn Individual Mask Registers */ #define KINETIS_CAN_RXIMR0_OFFSET 0x0880 /* R0 Individual Mask Registers */ #define KINETIS_CAN_RXIMR1_OFFSET 0x0884 /* R1 Individual Mask Registers */ @@ -137,6 +139,7 @@ # define CAN_MCR_IDAM_FMTB (1 << CAN_MCR_IDAM_SHIFT) /* Format B: Two full (or partial) IDs */ # define CAN_MCR_IDAM_FMTC (2 << CAN_MCR_IDAM_SHIFT) /* Format C: Four partial IDs */ # define CAN_MCR_IDAM_FMTD (3 << CAN_MCR_IDAM_SHIFT) /* Format D: All frames rejected */ + /* Bits 10-11: Reserved */ #define CAN_MCR_AEN (1 << 12) /* Bit 12: Abort Enable */ #define CAN_MCR_LPRIOEN (1 << 13) /* Bit 13: Local Priority Enable */ @@ -162,6 +165,7 @@ #define CAN_CTRL1_ROPSEG_SHIFT (0) /* Bits 0-2: Propagation Segment */ #define CAN_CTRL1_ROPSEG_MASK (7 << CAN_CTRL1_ROPSEG_SHIFT) +#define CAN_CTRL1_PROPSEG(x) (((uint32_t)(((uint32_t)(x)) << 0)) & 0x7) #define CAN_CTRL1_LOM (1 << 3) /* Bit 3: Listen-Only Mode */ #define CAN_CTRL1_LBUF (1 << 4) /* Bit 4: Lowest Buffer Transmitted First */ #define CAN_CTRL1_TSYN (1 << 5) /* Bit 5: Timer Sync */ @@ -176,18 +180,23 @@ #define CAN_CTRL1_BOFFMSK (1 << 15) /* Bit 15: Bus Off Mask */ #define CAN_CTRL1_PSEG2_SHIFT (16) /* Bits 16-18: Phase Segment 2 */ #define CAN_CTRL1_PSEG2_MASK (7 << CAN_CTRL1_PSEG2_SHIFT) +#define CAN_CTRL1_PSEG2(x) (((uint32_t)(((uint32_t)(x)) << 16)) & 0x70000) #define CAN_CTRL1_PSEG1_SHIFT (19) /* Bits 19-21: Phase Segment 1 */ #define CAN_CTRL1_PSEG1_MASK (7 << CAN_CTRL1_PSEG1_SHIFT) +#define CAN_CTRL1_PSEG1(x) (((uint32_t)(((uint32_t)(x)) << 19)) & 0x380000) #define CAN_CTRL1_RJW_SHIFT (22) /* Bits 22-23: Resync Jump Width */ #define CAN_CTRL1_RJW_MASK (3 << CAN_CTRL1_RJW_SHIFT) +#define CAN_CTRL1_RJW(x) (((uint32_t)(((uint32_t)(x)) << 22)) & 0xC00000) #define CAN_CTRL1_PRESDIV_SHIFT (24) /* Bits 24-31: Prescaler Division Factor */ #define CAN_CTRL1_PRESDIV_MASK (0xff << CAN_CTRL1_PRESDIV_SHIFT) +#define CAN_CTRL1_PRESDIV(x) (((uint32_t)(((uint32_t)(x)) << 24)) & 0xFF000000) /* Free Running Timer */ #define CAN_TIMER_SHIFT (0) /* Bits 0-15: Timer value */ #define CAN_TIMER_MASK (0xffff << CAN_TIMER_SHIFT) /* Bits 16-31: Reserved */ + /* Rx Mailboxes Global Mask Register (32 Rx Mailboxes Global Mask Bits) */ #define CAN_RXMGMASK(n) (1 << (n)) /* Bit n: Rx Mailboxe n Global Mask Bit */ @@ -207,6 +216,7 @@ #define CAN_ECR_RXERRCNT_SHIFT (8) /* Bits 8-15: Receive Error Counter */ #define CAN_ECR_RXERRCNT_MASK (0xff << CAN_ECR_RXERRCNT_SHIFT) /* Bits 16-31: Reserved */ + /* Error and Status 1 Register */ #define CAN_ESR1_WAKINT (1 << 0) /* Bit 0: Wake-Up Interrupt */ @@ -231,7 +241,9 @@ #define CAN_ESR1_RWRNINT (1 << 16) /* Bit 16: Rx Warning Interrupt Flag */ #define CAN_ESR1_TWRNINT (1 << 17) /* Bit 17: Tx Warning Interrupt Flag */ #define CAN_ESR1_SYNCH (1 << 18) /* Bit 18: CAN Synchronization Status */ + /* Bits 19-31: Reserved */ + /* Interrupt Masks 2 Register */ #define CAN_IMASK2(n) (1 << (n)) /* Bit n: Buffer MBn Mask */ @@ -249,6 +261,7 @@ #define CAN_IFLAG1(n) (1 << (n)) /* Bit n: Buffer MBn Interrupt, n=0..4,8..31 */ /* Control 2 Register */ + /* Bits 0-15: Reserved */ #define CAN_CTRL2_EACEN (1 << 16) /* Bit 16: Entire Frame Arbitration Field Comparison Enable (Rx) */ #define CAN_CTRL2_RRS (1 << 17) /* Bit 17: Remote Request Storing */ @@ -275,7 +288,9 @@ # define CAN_CTRL2_RFFN_128MB (15 << CAN_CTRL2_RFFN_SHIFT) #define CAN_CTRL2_WRMFRZ (1 << 28) /* Bit 28: Write-Access to Memory in Freeze mode */ /* Bits 29-31: Reserved */ + /* Error and Status 2 Register */ + /* Bits 0-12: Reserved */ #define CAN_ESR2_IMB (1 << 13) /* Bit 13: Inactive Mailbox */ #define CAN_ESR2_VPS (1 << 14) /* Bit 14: Valid Priority Status */ @@ -283,6 +298,7 @@ #define CAN_ESR2_LPTM_SHIFT (16) /* Bits 16-22: Lowest Priority Tx Mailbox */ #define CAN_ESR2_LPTM_MASK (0x7f << CAN_ESR2_LPTM_SHIFT) /* Bits 23-31: Reserved */ + /* CRC Register */ #define CAN_CRCR_TXCRC_SHIFT (0) /* Bits 0-14: CRC Transmitted */ @@ -295,6 +311,7 @@ /* Rx FIFO Global Mask Register (32 Rx FIFO Global Mask Bits) */ /* Rx FIFO Information Register */ + /* Bits 9-31: Reserved */ #define CAN_RXFIR_IDHIT_SHIFT (0) /* Bits 0-8: Identifier Acceptance Filter Hit Indicator */ #define CAN_RXFIR_IDHIT_MASK (0x1ff << CAN_RXFIR_IDHIT_SHIFT) @@ -303,6 +320,15 @@ #define CAN_RXIMR(n) (1 << (n)) /* Bit n: Individual Mask Bits */ +/* CAN MB TX codes */ +#define CAN_TXMB_INACTIVE 0x8 /* MB is not active. */ +#define CAN_TXMB_ABORT 0x9 /* MB is aborted. */ +#define CAN_TXMB_DATAORREMOTE 0xC /* MB is a TX Data Frame(when MB RTR = 0) or */ + /* MB is a TX Remote Request Frame (when MB RTR = 1). */ +#define CAN_TXMB_TANSWER 0xE /* MB is a TX Response Request Frame from */ + /* an incoming Remote Request Frame. */ +#define CAN_TXMB_NOTUSED 0xF /* Not used.*/ + /**************************************************************************************************** * Public Types ****************************************************************************************************/ @@ -311,8 +337,4 @@ * Public Data ****************************************************************************************************/ -/**************************************************************************************************** - * Public Functions - ****************************************************************************************************/ - #endif /* __ARCH_ARM_SRC_KINETIS_HARDWARE_KINETIS_FLEXCAN_H */ diff --git a/arch/arm/src/kinetis/kinetis.h b/arch/arm/src/kinetis/kinetis.h index 16290f684a9..cdabde59da0 100644 --- a/arch/arm/src/kinetis/kinetis.h +++ b/arch/arm/src/kinetis/kinetis.h @@ -62,6 +62,7 @@ /* Configuration ********************************************************************/ /* Bit-encoded input to kinetis_pinconfig() *****************************************/ + /* General form (32-bits, only 22 bits are unused in the encoding): * * oooo mmmv iiii ifd- ---- -ppp ---b bbbb @@ -80,6 +81,7 @@ #define _PIN_OPTIONS_MASK (15 << _PIN_OPTIONS_SHIFT) /* Port Modes */ + /* Unshifted versions: */ #define PIN_MODE_ANALOG (0) /* 000 Pin Disabled (Analog) */ #define PIN_MODE_ALT1 (1) /* 001 Alternative 1 */ @@ -354,7 +356,7 @@ extern "C" void kinetis_clockconfig(void); -/**************************************************************************** +/************************************************************************************ * Name: kinetis_earlyserialinit * * Description: @@ -362,13 +364,13 @@ void kinetis_clockconfig(void); * the serial console will be available during bootup. This must be called * before arm_serialinit. * - ****************************************************************************/ + ************************************************************************************/ #ifdef USE_EARLYSERIALINIT void kinetis_earlyserialinit(void); #endif -/**************************************************************************** +/************************************************************************************ * Name: kinetis_uart_earlyserialinit * * Description: @@ -376,13 +378,13 @@ void kinetis_earlyserialinit(void); * serial console will be available during bootup. This must be called * before arm_serialinit. * - ****************************************************************************/ + ************************************************************************************/ #ifdef USE_EARLYSERIALINIT void kinetis_uart_earlyserialinit(void); #endif -/**************************************************************************** +/************************************************************************************ * Name: kinetis_lpuart_earlyserialinit * * Description: @@ -390,7 +392,7 @@ void kinetis_uart_earlyserialinit(void); * serial console will be available during bootup. This must be called * before arm_serialinit. * - ****************************************************************************/ + ************************************************************************************/ #ifdef USE_EARLYSERIALINIT void kinetis_lpuart_earlyserialinit(void); @@ -408,7 +410,7 @@ void kinetis_lpuart_earlyserialinit(void); void kinetis_lowsetup(void); -/**************************************************************************** +/************************************************************************************ * Name: kinetis_uart_serialinit * * Description: @@ -421,13 +423,13 @@ void kinetis_lowsetup(void); * Returned Value: * The next TTY number available for assignment * - ****************************************************************************/ + ************************************************************************************/ #ifdef HAVE_UART_DEVICE unsigned int kinetis_uart_serialinit(unsigned int first); #endif -/**************************************************************************** +/************************************************************************************ * Name: kinetis_lpuart_serialinit * * Description: @@ -440,43 +442,43 @@ unsigned int kinetis_uart_serialinit(unsigned int first); * Returned Value: * The next TTY number available for assignment * - ****************************************************************************/ + ************************************************************************************/ #ifdef HAVE_LPUART_DEVICE unsigned int kinetis_lpuart_serialinit(unsigned int first); #endif -/**************************************************************************** +/************************************************************************************ * Name: kinetis_uartreset * * Description: * Reset a UART. * - ****************************************************************************/ + ************************************************************************************/ #ifdef HAVE_UART_DEVICE void kinetis_uartreset(uintptr_t uart_base); #endif -/**************************************************************************** +/************************************************************************************ * Name: kinetis_lpuartreset * * Description: * Reset a UART. * - ****************************************************************************/ + ************************************************************************************/ #ifdef HAVE_LPUART_DEVICE void kinetis_lpuartreset(uintptr_t uart_base); #endif -/**************************************************************************** +/************************************************************************************ * Name: kinetis_uartconfigure * * Description: * Configure a UART as a RS-232 UART. * - ****************************************************************************/ + ************************************************************************************/ #ifdef HAVE_UART_DEVICE void kinetis_uartconfigure(uintptr_t uart_base, uint32_t baud, uint32_t clock, @@ -485,13 +487,13 @@ void kinetis_uartconfigure(uintptr_t uart_base, uint32_t baud, uint32_t clock, bool iflow, bool oflow); #endif -/**************************************************************************** +/************************************************************************************ * Name: kinetis_lpuartconfigure * * Description: * Configure a UART as a RS-232 UART. * - ****************************************************************************/ + ************************************************************************************/ #ifdef HAVE_LPUART_DEVICE void kinetis_lpuartconfigure(uintptr_t uart_base, uint32_t baud, uint32_t clock, @@ -672,7 +674,7 @@ void kinetis_pindump(uint32_t pinset, const char *msg); void kinetis_clrpend(int irq); -/**************************************************************************** +/************************************************************************************ * Name: sdhc_initialize * * Description: @@ -684,14 +686,14 @@ void kinetis_clrpend(int irq); * Returned Value: * A reference to an SDIO interface structure. NULL is returned on failures. * - ****************************************************************************/ + ************************************************************************************/ #ifdef CONFIG_KINETIS_SDHC struct sdio_dev_s; FAR struct sdio_dev_s *sdhc_initialize(int slotno); #endif -/**************************************************************************** +/************************************************************************************ * Name: sdhc_mediachange * * Description: @@ -708,13 +710,13 @@ FAR struct sdio_dev_s *sdhc_initialize(int slotno); * Returned Value: * None * - ****************************************************************************/ + ************************************************************************************/ #ifdef CONFIG_KINETIS_SDHC void sdhc_mediachange(FAR struct sdio_dev_s *dev, bool cardinslot); #endif -/**************************************************************************** +/************************************************************************************ * Name: sdio_wrprotect * * Description: @@ -728,7 +730,7 @@ void sdhc_mediachange(FAR struct sdio_dev_s *dev, bool cardinslot); * Returned Value: * None * - ****************************************************************************/ + ************************************************************************************/ #ifdef CONFIG_KINETIS_SDHC void sdhc_wrprotect(FAR struct sdio_dev_s *dev, bool wrprotect); @@ -738,5 +740,46 @@ void sdhc_wrprotect(FAR struct sdio_dev_s *dev, bool wrprotect); } #endif +/************************************************************************************ + * Name: kinetis_netinitialize + * + * Description: + * Initialize the Ethernet controller and driver + * + * Input Parameters: + * intf - In the case where there are multiple EMACs, this value + * identifies which EMAC is to be initialized. + * + * Returned Value: + * OK on success; Negated errno on failure. + * + * Assumptions: + * + ************************************************************************************/ + +#ifdef CONFIG_KINETIS_ENET +int kinetis_netinitialize(int intf); +#endif + +/************************************************************************************ + * Function: kinetis_caninitialize + * + * Description: + * Initialize the CAN controller and driver + * + * Input Parameters: + * intf - In the case where there are multiple CAN, this value + * identifies which CAN is to be initialized. + * + * Returned Value: + * OK on success; Negated errno on failure. + * + * Assumptions: + * + ************************************************************************************/ +#ifdef CONFIG_KINETIS_CAN +int kinetis_caninitialize(int intf) +#endif + #endif /* __ASSEMBLY__ */ #endif /* __ARCH_ARM_SRC_KINETIS_KINETIS_H */ diff --git a/arch/arm/src/kinetis/kinetis_flexcan.c b/arch/arm/src/kinetis/kinetis_flexcan.c new file mode 100644 index 00000000000..1256f54287e --- /dev/null +++ b/arch/arm/src/kinetis/kinetis_flexcan.c @@ -0,0 +1,1907 @@ +/**************************************************************************** + * arch/arm/src/kinetis/kinetis_flexcan.c + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +#include "arm_arch.h" +#include "chip.h" +#include "kinetis_config.h" +#include "hardware/kinetis_flexcan.h" +#include "hardware/kinetis_pinmux.h" +#include "hardware/kinetis_sim.h" +#include "kinetis.h" + +#include + +#ifdef CONFIG_NET_CMSG +#include +#endif + +#ifdef CONFIG_KINETIS_FLEXCAN + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/* If processing is not done at the interrupt level, then work queue support + * is required. + */ + +#define CANWORK LPWORK + +/* CONFIG_KINETIS_FLEXCAN_NETHIFS determines the number of physical + * interfaces that will be supported. + */ + +#define MASKSTDID 0x000007ff +#define MASKEXTID 0x1fffffff +#define FLAGEFF (1 << 31) /* Extended frame format */ +#define FLAGRTR (1 << 30) /* Remote transmission request */ + +#define RXMBCOUNT 5 +#define TXMBCOUNT 2 +#define TOTALMBCOUNT RXMBCOUNT + TXMBCOUNT + +#define IFLAG1_RX ((1 << RXMBCOUNT)-1) +#define IFLAG1_TX (((1 << TXMBCOUNT)-1) << RXMBCOUNT) + +#define CAN_FIFO_NE (1 << 5) +#define CAN_FIFO_OV (1 << 6) +#define CAN_FIFO_WARN (1 << 7) +#define CAN_EFF_FLAG 0x80000000 /* EFF/SFF is set in the MSB */ + +#define POOL_SIZE 1 + +#ifdef CONFIG_NET_CMSG +#define MSG_DATA sizeof(struct timeval) +#else +#define MSG_DATA 0 +#endif + +/* CAN bit timing values */ +#define CLK_FREQ BOARD_EXTAL_FREQ +#define PRESDIV_MAX 256 + +#define SEG_MAX 8 +#define SEG_MIN 1 +#define TSEG_MIN 2 +#define TSEG1_MAX 17 +#define TSEG2_MAX 9 +#define NUMTQ_MAX 26 + +#define SEG_FD_MAX 32 +#define SEG_FD_MIN 1 +#define TSEG_FD_MIN 2 +#define TSEG1_FD_MAX 39 +#define TSEG2_FD_MAX 9 +#define NUMTQ_FD_MAX 49 + +#ifdef CONFIG_NET_CAN_RAW_TX_DEADLINE + +# if !defined(CONFIG_SCHED_WORKQUEUE) +# error Work queue support is required +# endif + +#define TX_TIMEOUT_WQ +#endif + +/* Interrupt flags for RX fifo */ +#define IFLAG1_RXFIFO (CAN_FIFO_NE | CAN_FIFO_WARN | CAN_FIFO_OV) + +static int peak_tx_mailbox_index_ = 0; + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +union cs_e +{ + volatile uint32_t cs; + struct + { + volatile uint32_t time_stamp : 16; + volatile uint32_t dlc : 4; + volatile uint32_t rtr : 1; + volatile uint32_t ide : 1; + volatile uint32_t srr : 1; + volatile uint32_t res : 1; + volatile uint32_t code : 4; + volatile uint32_t res2 : 1; + volatile uint32_t esi : 1; + volatile uint32_t brs : 1; + volatile uint32_t edl : 1; + }; +}; + +union id_e +{ + volatile uint32_t w; + struct + { + volatile uint32_t ext : 29; + volatile uint32_t resex : 3; + }; + struct + { + volatile uint32_t res : 18; + volatile uint32_t std : 11; + volatile uint32_t resstd : 3; + }; +}; + +union data_e +{ + volatile uint32_t w00; + struct + { + volatile uint32_t b03 : 8; + volatile uint32_t b02 : 8; + volatile uint32_t b01 : 8; + volatile uint32_t b00 : 8; + }; +}; + +struct mb_s +{ + union cs_e cs; + union id_e id; +#ifdef CONFIG_NET_CAN_CANFD + union data_e data[16]; +#else + union data_e data[2]; +#endif +}; + +#ifdef CONFIG_NET_CAN_RAW_TX_DEADLINE +#define TX_ABORT -1 +#define TX_FREE 0 +#define TX_BUSY 1 + +struct txmbstats +{ + struct timeval deadline; + uint32_t pending; /* -1 = abort, 0 = free, 1 = busy */ +}; +#endif + +/* FlexCAN Device hardware configuration */ + +struct flexcan_config_s +{ + uint32_t tx_pin; /* GPIO configuration for TX */ + uint32_t rx_pin; /* GPIO configuration for RX */ + uint32_t enable_pin; /* Optional enable pin */ + uint32_t enable_high; /* Optional enable high/low */ + uint32_t bus_irq; /* BUS IRQ */ + uint32_t error_irq; /* ERROR IRQ */ + uint32_t lprx_irq; /* LPRX IRQ */ + uint32_t mb_irq; /* MB 0-15 IRQ */ +}; + +struct flexcan_timeseg +{ + uint32_t bitrate; + int32_t samplep; + uint8_t propseg; + uint8_t pseg1; + uint8_t pseg2; + uint8_t presdiv; +}; + +/* FlexCAN device structures */ + +#ifdef CONFIG_KINETIS_FLEXCAN0 +static const struct flexcan_config_s kinetis_flexcan0_config = +{ + .tx_pin = PIN_CAN0_TX, + .rx_pin = PIN_CAN0_RX, +#ifdef PIN_CAN0_ENABLE + .enable_pin = PIN_CAN0_ENABLE, + .enable_high = CAN0_ENABLE_OUT, +#else + .enable_pin = 0, + .enable_high = 0, +#endif + .bus_irq = KINETIS_IRQ_CAN0BO, + .error_irq = KINETIS_IRQ_CAN0ERR, + .lprx_irq = 0, + .mb_irq = KINETIS_IRQ_CAN0MB, +}; +#endif + +#ifdef CONFIG_KINETIS_FLEXCAN1 +static const struct flexcan_config_s kinetis_flexcan1_config = +{ + .tx_pin = PIN_CAN1_TX, + .rx_pin = PIN_CAN1_RX, +#ifdef PIN_CAN1_ENABLE + .enable_pin = PIN_CAN1_ENABLE, + .enable_high = CAN1_ENABLE_OUT, +#else + .enable_pin = 0, + .enable_high = 0, +#endif + .bus_irq = KINETIS_IRQ_CAN1BO, + .error_irq = KINETIS_IRQ_CAN1ERR, + .lprx_irq = 0, + .mb_irq = KINETIS_IRQ_CAN1MB, +}; +#endif + +#ifdef CONFIG_KINETIS_FLEXCAN2 +static const struct flexcan_config_s kinetis_flexcan2_config = +{ + .tx_pin = PIN_CAN2_TX, + .rx_pin = PIN_CAN2_RX, +#ifdef PIN_CAN2_ENABLE + .enable_pin = PIN_CAN2_ENABLE, + .rx_pin = CAN2_ENABLE_HIGH, +#else + .enable_pin = 0, + .rx_pin = 0, +#endif + .bus_irq = KINETIS_IRQ_CAN2_BUS, + .error_irq = KINETIS_IRQ_CAN2_ERROR, + .lprx_irq = 0, + .mb_irq = KINETIS_IRQ_CAN2_0_15, +}; +#endif + +/* The kinetis_driver_s encapsulates all state information for a single + * hardware interface + */ + +struct kinetis_driver_s +{ + uint32_t base; /* FLEXCAN base address */ + bool bifup; /* true:ifup false:ifdown */ +#ifdef TX_TIMEOUT_WQ + WDOG_ID txtimeout[TXMBCOUNT]; /* TX timeout timer */ +#endif + struct work_s irqwork; /* For deferring interrupt work to the wq */ + struct work_s pollwork; /* For deferring poll work to the work wq */ +#ifdef CONFIG_NET_CAN_CANFD + struct canfd_frame *txdesc; /* A pointer to the list of TX descriptor */ + struct canfd_frame *rxdesc; /* A pointer to the list of RX descriptors */ +#else + struct can_frame *txdesc; /* A pointer to the list of TX descriptor */ + struct can_frame *rxdesc; /* A pointer to the list of RX descriptors */ +#endif + + /* This holds the information visible to the NuttX network */ + + struct net_driver_s dev; /* Interface understood by the network */ + + struct mb_s *rx; + struct mb_s *tx; + + struct flexcan_timeseg arbi_timing; /* Timing for arbitration phase */ +#ifdef CONFIG_NET_CAN_CANFD + struct flexcan_timeseg data_timing; /* Timing for data phase */ +#endif + + const struct flexcan_config_s *config; + +#ifdef CONFIG_NET_CAN_RAW_TX_DEADLINE + struct txmbstats txmb[TXMBCOUNT]; +#endif +}; + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +#ifdef CONFIG_KINETIS_FLEXCAN0 +static struct kinetis_driver_s g_flexcan0; +#endif + +#ifdef CONFIG_KINETIS_FLEXCAN1 +static struct kinetis_driver_s g_flexcan1; +#endif + +#ifdef CONFIG_KINETIS_FLEXCAN2 +static struct kinetis_driver_s g_flexcan2; +#endif + +#ifdef CONFIG_NET_CAN_CANFD +static uint8_t g_tx_pool[(sizeof(struct canfd_frame)+MSG_DATA)*POOL_SIZE]; +static uint8_t g_rx_pool[(sizeof(struct canfd_frame)+MSG_DATA)*POOL_SIZE]; +#else +static uint8_t g_tx_pool[sizeof(struct can_frame)*POOL_SIZE]; +static uint8_t g_rx_pool[sizeof(struct can_frame)*POOL_SIZE]; +#endif + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Name: arm_lsb + * + * Description: + * Calculate position of lsb that's equal to 1 + * + * Input Parameters: + * value - The value to perform the operation on + * + * Returned Value: + * location of lsb which is equal to 1, returns 32 when value is 0 + * + ****************************************************************************/ + +static inline uint32_t arm_lsb(unsigned int value) +{ + uint32_t ret; + volatile uint32_t rvalue = value; + __asm__ __volatile__ ("rbit %1,%0" : "=r" (rvalue) : "r" (rvalue)); + __asm__ __volatile__ ("clz %0, %1" : "=r"(ret) : "r"(rvalue)); + return ret; +} + +/**************************************************************************** + * Name: kinetis_bitratetotimeseg + * + * Description: + * Convert bitrate to timeseg + * + * Input Parameters: + * timeseg - structure to store bit timing + * sp_tolerance - allowed difference in sample point from calculated + * bit timings (recommended value: 1) + * can_fd - if set to calculate CAN FD bit timings, otherwise calculate + * classical can timings + * + * Returned Value: + * return 1 on succes, return 0 on failure + * + ****************************************************************************/ + +uint32_t kinetis_bitratetotimeseg(struct flexcan_timeseg *timeseg, + int32_t sp_tolerance, + uint32_t can_fd) +{ + int32_t tmppresdiv; + int32_t numtq; + int32_t tmpsample; + int32_t tseg1; + int32_t tseg2; + int32_t tmppseg1; + int32_t tmppseg2; + int32_t tmppropseg; + + const int32_t TSEG1MAX = (can_fd ? TSEG1_FD_MAX : TSEG1_MAX); + const int32_t TSEG2MAX = (can_fd ? TSEG2_FD_MAX : TSEG2_MAX); + const int32_t SEGMAX = (can_fd ? SEG_FD_MAX : SEG_MAX); + const int32_t NUMTQMAX = (can_fd ? NUMTQ_FD_MAX : NUMTQ_MAX); + + for (tmppresdiv = 0; tmppresdiv < PRESDIV_MAX; tmppresdiv++) + { + numtq = (CLK_FREQ / ((tmppresdiv + 1) * timeseg->bitrate)); + + if (numtq == 0) + { + continue; + } + + /* The number of time quanta in 1 bit time must be + * lower than the one supported + */ + + if ((CLK_FREQ / ((tmppresdiv + 1) * numtq) == timeseg->bitrate) + && (numtq >= 8) && (numtq < NUMTQMAX)) + { + /* Compute time segments based on the value of the sampling point */ + + tseg1 = (numtq * timeseg->samplep / 100) - 1; + tseg2 = numtq - 1 - tseg1; + + /* Adjust time segment 1 and time segment 2 */ + + while (tseg1 >= TSEG1MAX || tseg2 < TSEG_MIN) + { + tseg2++; + tseg1--; + } + + tmppseg2 = tseg2 - 1; + + /* Start from pseg1 = pseg2 and adjust until propseg is valid */ + + tmppseg1 = tmppseg2; + tmppropseg = tseg1 - tmppseg1 - 2; + + while (tmppropseg <= 0) + { + tmppropseg++; + tmppseg1--; + } + + while (tmppropseg >= SEGMAX) + { + tmppropseg--; + tmppseg1++; + } + + if (((tseg1 >= TSEG1MAX) || (tseg2 >= TSEG2MAX) || + (tseg2 < TSEG_MIN) || (tseg1 < TSEG_MIN)) || + ((tmppropseg >= SEGMAX) || (tmppseg1 >= SEGMAX) || + (tmppseg2 < SEG_MIN) || (tmppseg2 >= SEGMAX))) + { + continue; + } + + tmpsample = ((tseg1 + 1) * 100) / numtq; + + if ((tmpsample - timeseg->samplep) <= sp_tolerance && + (timeseg->samplep - tmpsample) <= sp_tolerance) + { + if (can_fd == 1) + { + timeseg->propseg = tmppropseg + 1; + } + else + { + timeseg->propseg = tmppropseg; + } + timeseg->pseg1 = tmppseg1; + timeseg->pseg2 = tmppseg2; + timeseg->presdiv = tmppresdiv; + timeseg->samplep = tmpsample; + return 1; + } + } + } + + return 0; +} + +/* Common TX logic */ + +static bool kinetis_txringfull(FAR struct kinetis_driver_s *priv); +static int kinetis_transmit(FAR struct kinetis_driver_s *priv); +static int kinetis_txpoll(struct net_driver_s *dev); + +/* Helper functions */ + +static void kinetis_setenable(uint32_t base, uint32_t enable); +static void kinetis_setfreeze(uint32_t base, uint32_t freeze); +static uint32_t kinetis_waitmcr_change(uint32_t base, + uint32_t mask, + uint32_t target_state); + +/* Interrupt handling */ + +static void kinetis_receive(FAR struct kinetis_driver_s *priv, + uint32_t flags); +static void kinetis_txdone(FAR void *arg); + +static int kinetis_flexcan_interrupt(int irq, FAR void *context, + FAR void *arg); + +/* Watchdog timer expirations */ +#ifdef TX_TIMEOUT_WQ +static void kinetis_txtimeout_work(FAR void *arg); +static void kinetis_txtimeout_expiry(int argc, uint32_t arg, ...); +#endif + +/* NuttX callback functions */ + +static int kinetis_ifup(struct net_driver_s *dev); +static int kinetis_ifdown(struct net_driver_s *dev); + +static void kinetis_txavail_work(FAR void *arg); +static int kinetis_txavail(struct net_driver_s *dev); + +#ifdef CONFIG_NETDEV_IOCTL +static int kinetis_ioctl(struct net_driver_s *dev, int cmd, + unsigned long arg); +#endif + +/* Initialization */ + +static int kinetis_initialize(struct kinetis_driver_s *priv); +static void kinetis_reset(struct kinetis_driver_s *priv); + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**************************************************************************** + * Function: kinetis_txringfull + * + * Description: + * Check if all of the TX descriptors are in use. + * + * Input Parameters: + * priv - Reference to the driver state structure + * + * Returned Value: + * true is the TX ring is full; false if there are free slots at the + * head index. + * + ****************************************************************************/ + +static bool kinetis_txringfull(FAR struct kinetis_driver_s *priv) +{ + uint32_t mbi = 0; + + while (mbi < TXMBCOUNT) + { + if (priv->tx[mbi].cs.code != CAN_TXMB_DATAORREMOTE) + { + return 0; + } + + mbi++; + } + + return 1; +} + +/**************************************************************************** + * Function: kinetis_transmit + * + * Description: + * Start hardware transmission. Called either from the txdone interrupt + * handling or from watchdog based polling. + * + * Input Parameters: + * priv - Reference to the driver state structure + * + * Returned Value: + * OK on success; a negated errno on failure + * + * Assumptions: + * May or may not be called from an interrupt handler. In either case, + * global interrupts are disabled, either explicitly or indirectly through + * interrupt handling logic. + * + ****************************************************************************/ + +static int kinetis_transmit(FAR struct kinetis_driver_s *priv) +{ + /* Attempt to write frame */ + + uint32_t mbi = 0; + if ((getreg32(priv->base + KINETIS_CAN_ESR2_OFFSET) & + (CAN_ESR2_IMB | CAN_ESR2_VPS)) == + (CAN_ESR2_IMB | CAN_ESR2_VPS)) + { + mbi = ((getreg32(priv->base + KINETIS_CAN_ESR2_OFFSET) & + CAN_ESR2_LPTM_MASK) >> CAN_ESR2_LPTM_SHIFT); + mbi -= RXMBCOUNT; + } + + uint32_t mb_bit = 1 << (RXMBCOUNT + mbi); + + while (mbi < TXMBCOUNT) + { + if (priv->tx[mbi].cs.code != CAN_TXMB_DATAORREMOTE) + { + putreg32(mb_bit, priv->base + KINETIS_CAN_IFLAG1_OFFSET); + break; + } + + mb_bit <<= 1; + mbi++; + } + + if (mbi == TXMBCOUNT) + { + nwarn("No TX MB available mbi %i\r\n", mbi); + return 0; /* No transmission for you! */ + } + +#ifdef CONFIG_NET_CAN_RAW_TX_DEADLINE + int32_t timeout = 0; + struct timespec ts; + clock_systimespec(&ts); + + if (priv->dev.d_sndlen > priv->dev.d_len) + { + struct timeval *tv = + (struct timeval *)(priv->dev.d_buf + priv->dev.d_len); + priv->txmb[mbi].deadline = *tv; + timeout = (tv->tv_sec - ts.tv_sec)*CLK_TCK + + ((tv->tv_usec - ts.tv_nsec / 1000)*CLK_TCK) / 1000000; + if (timeout < 0) + { + return 0; /* No transmission for you! */ + } + } + else + { + /* Default TX deadline defined in NET_CAN_RAW_DEFAULT_TX_DEADLINE */ + + if (CONFIG_NET_CAN_RAW_DEFAULT_TX_DEADLINE > 0) + { + timeout = ((CONFIG_NET_CAN_RAW_DEFAULT_TX_DEADLINE / 1000000) + *CLK_TCK); + priv->txmb[mbi].deadline.tv_sec = ts.tv_sec + + CONFIG_NET_CAN_RAW_DEFAULT_TX_DEADLINE / 1000000; + priv->txmb[mbi].deadline.tv_usec = (ts.tv_nsec / 1000) + + CONFIG_NET_CAN_RAW_DEFAULT_TX_DEADLINE % 1000000; + } + else + { + priv->txmb[mbi].deadline.tv_sec = 0; + priv->txmb[mbi].deadline.tv_usec = 0; + } + } +#endif + + peak_tx_mailbox_index_ = + (peak_tx_mailbox_index_ > mbi ? peak_tx_mailbox_index_ : mbi); + + union cs_e cs; + cs.code = CAN_TXMB_DATAORREMOTE; + struct mb_s *mb = &priv->tx[mbi]; + mb->cs.code = CAN_TXMB_INACTIVE; + + if (priv->dev.d_len == sizeof(struct can_frame)) + { + struct can_frame *frame = (struct can_frame *)priv->dev.d_buf; + + if (frame->can_id & CAN_EFF_FLAG) + { + cs.ide = 1; + mb->id.ext = frame->can_id & MASKEXTID; + } + else + { + mb->id.std = frame->can_id & MASKSTDID; + } + + cs.rtr = frame->can_id & FLAGRTR ? 1 : 0; + cs.dlc = frame->can_dlc; + + mb->data[0].w00 = __builtin_bswap32(*(uint32_t *)&frame->data[0]); + mb->data[1].w00 = __builtin_bswap32(*(uint32_t *)&frame->data[4]); + } +#ifdef CONFIG_NET_CAN_CANFD + else /* CAN FD frame */ + { + struct canfd_frame *frame = (struct canfd_frame *)priv->dev.d_buf; + + cs.edl = 1; /* CAN FD Frame */ + + if (frame->can_id & CAN_EFF_FLAG) + { + cs.ide = 1; + mb->id.ext = frame->can_id & MASKEXTID; + } + else + { + mb->id.std = frame->can_id & MASKSTDID; + } + + cs.rtr = frame->can_id & FLAGRTR ? 1 : 0; + + cs.dlc = len_to_can_dlc[frame->len]; + + uint32_t *frame_data_word = (uint32_t *)&frame->data[0]; + + for (int i = 0; i < (frame->len + 4 - 1) / 4; i++) + { + mb->data[i].w00 = __builtin_bswap32(frame_data_word[i]); + } + } +#endif + + mb->cs = cs; /* Go. */ + + uint32_t regval; + regval = getreg32(priv->base + KINETIS_CAN_IMASK1_OFFSET); + regval |= mb_bit; + putreg32(regval, priv->base + KINETIS_CAN_IMASK1_OFFSET); + + /* Increment statistics */ + + NETDEV_TXPACKETS(&priv->dev); + +#ifdef TX_TIMEOUT_WQ + /* Setup the TX timeout watchdog (perhaps restarting the timer) */ + + if (timeout > 0) + { + wd_start(priv->txtimeout[mbi], timeout + 1, kinetis_txtimeout_expiry, + 1, (wdparm_t)priv); + } +#endif + + return OK; +} + +/**************************************************************************** + * Function: kinetis_txpoll + * + * Description: + * The transmitter is available, check if the network has any outgoing + * packets ready to send. This is a callback from devif_poll(). + * devif_poll() may be called: + * + * 1. When the preceding TX packet send is complete, + * 2. When the preceding TX packet send timesout and the interface is reset + * 3. During normal TX polling + * + * Input Parameters: + * dev - Reference to the NuttX driver state structure + * + * Returned Value: + * OK on success; a negated errno on failure + * + * Assumptions: + * May or may not be called from an interrupt handler. In either case, + * global interrupts are disabled, either explicitly or indirectly through + * interrupt handling logic. + * + ****************************************************************************/ + +static int kinetis_txpoll(struct net_driver_s *dev) +{ + FAR struct kinetis_driver_s *priv = + (FAR struct kinetis_driver_s *)dev->d_private; + + /* If the polling resulted in data that should be sent out on the network, + * the field d_len is set to a value > 0. + */ + + if (priv->dev.d_len > 0) + { + if (!devif_loopback(&priv->dev)) + { + /* Send the packet */ + + kinetis_transmit(priv); + + /* Check if there is room in the device to hold another packet. If + * not, return a non-zero value to terminate the poll. + */ + + if (kinetis_txringfull(priv)) + { + return -EBUSY; + } + } + } + + /* If zero is returned, the polling will continue until all connections + * have been examined. + */ + + return 0; +} + +/**************************************************************************** + * Function: kinetis_receive + * + * Description: + * An interrupt was received indicating the availability of a new RX packet + * + * Input Parameters: + * priv - Reference to the driver state structure + * + * Returned Value: + * None + * + * Assumptions: + * Global interrupts are disabled by interrupt handling logic. + * + ****************************************************************************/ + +static void kinetis_receive(FAR struct kinetis_driver_s *priv, + uint32_t flags) +{ + uint32_t mb_index; + struct mb_s *rf; + + while ((mb_index = arm_lsb(flags)) != 32) + { + rf = &priv->rx[mb_index]; + + /* Read the frame contents */ + +#ifdef CONFIG_NET_CAN_CANFD + if (rf->cs.edl) /* CAN FD frame */ + { + struct canfd_frame *frame = (struct canfd_frame *)priv->rxdesc; + + if (rf->cs.ide) + { + frame->can_id = MASKEXTID & rf->id.ext; + frame->can_id |= FLAGEFF; + } + else + { + frame->can_id = MASKSTDID & rf->id.std; + } + + if (rf->cs.rtr) + { + frame->can_id |= FLAGRTR; + } + + frame->len = can_dlc_to_len[rf->cs.dlc]; + + uint32_t *frame_data_word = (uint32_t *)&frame->data[0]; + + for (int i = 0; i < (frame->len + 4 - 1) / 4; i++) + { + frame_data_word[i] = __builtin_bswap32(rf->data[i].w00); + } + + /* Clear MB interrupt flag */ + + putreg32(1 << mb_index, + priv->base + KINETIS_CAN_IFLAG1_OFFSET); + + /* Copy the buffer pointer to priv->dev.. Set amount of data + * in priv->dev.d_len + */ + + priv->dev.d_len = sizeof(struct canfd_frame); + priv->dev.d_buf = (uint8_t *)frame; + } + else /* CAN 2.0 Frame */ +#endif + { + struct can_frame *frame = (struct can_frame *)priv->rxdesc; + + if (rf->cs.ide) + { + frame->can_id = MASKEXTID & rf->id.ext; + frame->can_id |= FLAGEFF; + } + else + { + frame->can_id = MASKSTDID & rf->id.std; + } + + if (rf->cs.rtr) + { + frame->can_id |= FLAGRTR; + } + + frame->can_dlc = rf->cs.dlc; + + *(uint32_t *)&frame->data[0] = __builtin_bswap32(rf->data[0].w00); + *(uint32_t *)&frame->data[4] = __builtin_bswap32(rf->data[1].w00); + + /* Clear MB interrupt flag */ + + putreg32(1 << mb_index, + priv->base + KINETIS_CAN_IFLAG1_OFFSET); + + /* Copy the buffer pointer to priv->dev.. Set amount of data + * in priv->dev.d_len + */ + + priv->dev.d_len = sizeof(struct can_frame); + priv->dev.d_buf = (uint8_t *)frame; + } + + /* Send to socket interface */ + + NETDEV_RXPACKETS(&priv->dev); + + can_input(&priv->dev); + + /* Point the packet buffer back to the next Tx buffer that will be + * used during the next write. If the write queue is full, then + * this will point at an active buffer, which must not be written + * to. This is OK because devif_poll won't be called unless the + * queue is not full. + */ + + priv->dev.d_buf = (uint8_t *)priv->txdesc; + + flags &= ~(1 << mb_index); + + /* Reread interrupt flags and process them in this loop */ + + if (flags == 0) + { + flags = getreg32(priv->base + KINETIS_CAN_IFLAG1_OFFSET); + flags &= IFLAG1_RX; + } + } +} + +/**************************************************************************** + * Function: kinetis_txdone + * + * Description: + * An interrupt was received indicating that the last TX packet(s) is done + * + * Input Parameters: + * priv - Reference to the driver state structure + * + * Returned Value: + * None + * + * Assumptions: + * Global interrupts are disabled by the watchdog logic. + * We are not in an interrupt context so that we can lock the network. + * + ****************************************************************************/ + +static void kinetis_txdone(FAR void *arg) +{ + FAR struct kinetis_driver_s *priv = (FAR struct kinetis_driver_s *)arg; + uint32_t flags; + + flags = getreg32(priv->base + KINETIS_CAN_IFLAG1_OFFSET); + flags &= IFLAG1_TX; + + #warning Missing logic + + /* FIXME First Process Error aborts */ + + /* Process TX completions */ + + uint32_t mb_bit = 1 << RXMBCOUNT; + for (uint32_t mbi = 0; flags && mbi < TXMBCOUNT; mbi++) + { + if (flags & mb_bit) + { + putreg32(mb_bit, priv->base + KINETIS_CAN_IFLAG1_OFFSET); + flags &= ~mb_bit; + NETDEV_TXDONE(&priv->dev); +#ifdef TX_TIMEOUT_WQ + /* We are here because a transmission completed, so the + * corresponding watchdog can be canceled. + */ + + wd_cancel(priv->txtimeout[mbi]); +#endif + } + + mb_bit <<= 1; + } + + /* There should be space for a new TX in any event. Poll the network for + * new XMIT data + */ + + net_lock(); + devif_poll(&priv->dev, kinetis_txpoll); + net_unlock(); + up_enable_irq(priv->config->mb_irq); +} + +/**************************************************************************** + * Function: kinetis_flexcan_interrupt + * + * Description: + * Three interrupt sources will vector this this function: + * 1. CAN MB transmit interrupt handler + * 2. CAN MB receive interrupt handler + * 3. + * + * Input Parameters: + * irq - Number of the IRQ that generated the interrupt + * context - Interrupt register state save info (architecture-specific) + * + * Returned Value: + * OK on success + * + * Assumptions: + * + ****************************************************************************/ + +static int kinetis_flexcan_interrupt(int irq, FAR void *context, + FAR void *arg) +{ + FAR struct kinetis_driver_s *priv = (struct kinetis_driver_s *)arg; + + if (irq == priv->config->mb_irq) + { + uint32_t flags; + flags = getreg32(priv->base + KINETIS_CAN_IFLAG1_OFFSET); + flags &= IFLAG1_RX; + + if (flags) + { + /* Process immediately since scheduling a workqueue is too slow + * which causes us to drop CAN frames + */ + + kinetis_receive(priv, flags); + } + + flags = getreg32(priv->base + KINETIS_CAN_IFLAG1_OFFSET); + flags &= IFLAG1_TX; + + if (flags) + { + /* Disable further CAN interrupts. here can be no race + * condition here. + */ + + up_disable_irq(priv->config->mb_irq); + work_queue(CANWORK, &priv->irqwork, kinetis_txdone, priv, 0); + } + } + + return OK; +} + +/**************************************************************************** + * Function: kinetis_txtimeout_work + * + * Description: + * Perform TX timeout related work from the worker thread + * + * Input Parameters: + * arg - The argument passed when work_queue() as called. + * + * Returned Value: + * OK on success + * + * Assumptions: + * + ****************************************************************************/ +#ifdef TX_TIMEOUT_WQ + +static void kinetis_txtimeout_work(FAR void *arg) +{ + FAR struct kinetis_driver_s *priv = (FAR struct kinetis_driver_s *)arg; + + struct timespec ts; + struct timeval *now = (struct timeval *)&ts; + clock_systimespec(&ts); + now->tv_usec = ts.tv_nsec / 1000; /* timespec to timeval conversion */ + + /* The watchdog timed out, yet we still check mailboxes in case the + * transmit function transmitted a new frame + */ + + for (int mbi = 0; mbi < TXMBCOUNT; mbi++) + { + if (priv->txmb[mbi].deadline.tv_sec != 0 + && (now->tv_sec > priv->txmb[mbi].deadline.tv_sec + || now->tv_usec > priv->txmb[mbi].deadline.tv_usec)) + { + NETDEV_TXTIMEOUTS(&priv->dev); + struct mb_s *mb = &priv->tx[mbi]; + mb->cs.code = CAN_TXMB_ABORT; + priv->txmb[mbi].pending = TX_ABORT; + } + } +} + +/**************************************************************************** + * Function: kinetis_txtimeout_expiry + * + * Description: + * Our TX watchdog timed out. Called from the timer interrupt handler. + * The last TX never completed. Reset the hardware and start again. + * + * Input Parameters: + * argc - The number of available arguments + * arg - The first argument + * + * Returned Value: + * None + * + * Assumptions: + * Global interrupts are disabled by the watchdog logic. + * + ****************************************************************************/ + +static void kinetis_txtimeout_expiry(int argc, uint32_t arg, ...) +{ + FAR struct kinetis_driver_s *priv = (FAR struct kinetis_driver_s *)arg; + + /* Schedule to perform the TX timeout processing on the worker thread + */ + + work_queue(CANWORK, &priv->irqwork, kinetis_txtimeout_work, priv, 0); +} + +#endif + +static void kinetis_setenable(uint32_t base, uint32_t enable) +{ + uint32_t regval; + + if (enable) + { + regval = getreg32(base + KINETIS_CAN_MCR_OFFSET); + regval &= ~(CAN_MCR_MDIS); + putreg32(regval, base + KINETIS_CAN_MCR_OFFSET); + } + else + { + regval = getreg32(base + KINETIS_CAN_MCR_OFFSET); + regval |= CAN_MCR_MDIS; + putreg32(regval, base + KINETIS_CAN_MCR_OFFSET); + } + + kinetis_waitmcr_change(base, CAN_MCR_LPMACK, 1); +} + +static void kinetis_setfreeze(uint32_t base, uint32_t freeze) +{ + uint32_t regval; + if (freeze) + { + /* Enter freeze mode */ + + regval = getreg32(base + KINETIS_CAN_MCR_OFFSET); + regval |= (CAN_MCR_HALT | CAN_MCR_FRZ); + putreg32(regval, base + KINETIS_CAN_MCR_OFFSET); + } + else + { + /* Exit freeze mode */ + + regval = getreg32(base + KINETIS_CAN_MCR_OFFSET); + regval &= ~(CAN_MCR_HALT | CAN_MCR_FRZ); + putreg32(regval, base + KINETIS_CAN_MCR_OFFSET); + } +} + +static uint32_t kinetis_waitmcr_change(uint32_t base, uint32_t mask, + uint32_t target_state) +{ + const unsigned timeout = 1000; + for (unsigned wait_ack = 0; wait_ack < timeout; wait_ack++) + { + const bool state = (getreg32(base + KINETIS_CAN_MCR_OFFSET) & mask) + != 0; + if (state == target_state) + { + return true; + } + + up_udelay(10); + } + + return false; +} + +static uint32_t kinetis_waitfreezeack_change(uint32_t base, + uint32_t target_state) +{ + return kinetis_waitmcr_change(base, CAN_MCR_FRZACK, target_state); +} + +/**************************************************************************** + * Function: kinetis_ifup + * + * Description: + * NuttX Callback: Bring up the Ethernet interface when an IP address is + * provided + * + * Input Parameters: + * dev - Reference to the NuttX driver state structure + * + * Returned Value: + * None + * + * Assumptions: + * + ****************************************************************************/ + +static int kinetis_ifup(struct net_driver_s *dev) +{ + FAR struct kinetis_driver_s *priv = + (FAR struct kinetis_driver_s *)dev->d_private; + + if (!kinetis_initialize(priv)) + { + nerr("initialize failed"); + return -1; + } + + priv->bifup = true; + +#ifdef CONFIG_NET_CAN_CANFD + priv->txdesc = (struct canfd_frame *)&g_tx_pool; + priv->rxdesc = (struct canfd_frame *)&g_rx_pool; +#else + priv->txdesc = (struct can_frame *)&g_tx_pool; + priv->rxdesc = (struct can_frame *)&g_rx_pool; +#endif + + priv->dev.d_buf = (uint8_t *)priv->txdesc; + + /* Set interrupts */ + + up_enable_irq(priv->config->bus_irq); + up_enable_irq(priv->config->error_irq); + if (priv->config->lprx_irq > 0) + { + up_enable_irq(priv->config->lprx_irq); + } + + up_enable_irq(priv->config->mb_irq); + + return OK; +} + +/**************************************************************************** + * Function: kinetis_ifdown + * + * Description: + * NuttX Callback: Stop the interface. + * + * Input Parameters: + * dev - Reference to the NuttX driver state structure + * + * Returned Value: + * None + * + * Assumptions: + * + ****************************************************************************/ + +static int kinetis_ifdown(struct net_driver_s *dev) +{ + FAR struct kinetis_driver_s *priv = + (FAR struct kinetis_driver_s *)dev->d_private; + + kinetis_reset(priv); + + priv->bifup = false; + return OK; +} + +/**************************************************************************** + * Function: kinetis_txavail_work + * + * Description: + * Perform an out-of-cycle poll on the worker thread. + * + * Input Parameters: + * arg - Reference to the NuttX driver state structure (cast to void*) + * + * Returned Value: + * None + * + * Assumptions: + * Called on the higher priority worker thread. + * + ****************************************************************************/ + +static void kinetis_txavail_work(FAR void *arg) +{ + FAR struct kinetis_driver_s *priv = (FAR struct kinetis_driver_s *)arg; + + /* Ignore the notification if the interface is not yet up */ + + net_lock(); + if (priv->bifup) + { + /* Check if there is room in the hardware to hold another outgoing + * packet. + */ + + if (!kinetis_txringfull(priv)) + { + /* No, there is space for another transfer. Poll the network for + * new XMIT data. + */ + + devif_poll(&priv->dev, kinetis_txpoll); + } + } + + net_unlock(); +} + +/**************************************************************************** + * Function: kinetis_txavail + * + * Description: + * Driver callback invoked when new TX data is available. This is a + * stimulus perform an out-of-cycle poll and, thereby, reduce the TX + * latency. + * + * Input Parameters: + * dev - Reference to the NuttX driver state structure + * + * Returned Value: + * None + * + * Assumptions: + * Called in normal user mode + * + ****************************************************************************/ + +static int kinetis_txavail(struct net_driver_s *dev) +{ + FAR struct kinetis_driver_s *priv = + (FAR struct kinetis_driver_s *)dev->d_private; + + /* Is our single work structure available? It may not be if there are + * pending interrupt actions and we will have to ignore the Tx + * availability action. + */ + + if (work_available(&priv->pollwork)) + { + /* Schedule to serialize the poll on the worker thread. */ + + kinetis_txavail_work(priv); + } + + return OK; +} + +/**************************************************************************** + * Function: kinetis_ioctl + * + * Description: + * PHY ioctl command handler + * + * Input Parameters: + * dev - Reference to the NuttX driver state structure + * cmd - ioctl command + * arg - Argument accompanying the command + * + * Returned Value: + * Zero (OK) on success; a negated errno value on failure. + * + * Assumptions: + * + ****************************************************************************/ + +#ifdef CONFIG_NETDEV_CAN_BITRATE_IOCTL +static int kinetis_ioctl(struct net_driver_s *dev, int cmd, + unsigned long arg) +{ + FAR struct kinetis_driver_s *priv = + (FAR struct kinetis_driver_s *)dev->d_private; + + int ret; + + switch (cmd) + { + case SIOCGCANBITRATE: /* Get bitrate from a CAN controller */ + { + struct can_ioctl_data_s *req = + (struct can_ioctl_data_s *)((uintptr_t)arg); + req->arbi_bitrate = priv->arbi_timing.bitrate / 1000; /* kbit/s */ + req->arbi_samplep = priv->arbi_timing.samplep; +#ifdef CONFIG_NET_CAN_CANFD + req->data_bitrate = priv->data_timing.bitrate / 1000; /* kbit/s */ + req->data_samplep = priv->data_timing.samplep; +#else + req->data_bitrate = 0; + req->data_samplep = 0; +#endif + ret = OK; + } + break; + + case SIOCSCANBITRATE: /* Set bitrate of a CAN controller */ + { + struct can_ioctl_data_s *req = + (struct can_ioctl_data_s *)((uintptr_t)arg); + + struct flexcan_timeseg arbi_timing; + arbi_timing.bitrate = req->arbi_bitrate * 1000; + arbi_timing.samplep = req->arbi_samplep; + + if (kinetis_bitratetotimeseg(&arbi_timing, 10, 0)) + { + ret = OK; + } + else + { + ret = -EINVAL; + } + +#ifdef CONFIG_NET_CAN_CANFD + struct flexcan_timeseg data_timing; + data_timing.bitrate = req->data_bitrate * 1000; + data_timing.samplep = req->data_samplep; + + if (ret == OK && kinetis_bitratetotimeseg(&data_timing, 10, 1)) + { + ret = OK; + } + else + { + ret = -EINVAL; + } +#endif + + if (ret == OK) + { + /* Reset CAN controller and start with new timings */ + + priv->arbi_timing = arbi_timing; +#ifdef CONFIG_NET_CAN_CANFD + priv->data_timing = data_timing; +#endif + kinetis_ifup(dev); + } + } + break; + + default: + ret = -ENOTTY; + break; + } + + return ret; +} +#endif /* CONFIG_NETDEV_IOCTL */ + +/**************************************************************************** + * Function: kinetis_initalize + * + * Description: + * Initialize FLEXCAN device + * + * Input Parameters: + * priv - Reference to the private FLEXCAN driver state structure + * + * Returned Value: + * None + * + * Assumptions: + * + ****************************************************************************/ + +static int kinetis_initialize(struct kinetis_driver_s *priv) +{ + uint32_t regval; + uint32_t i; + + /* initialize CAN device */ + + kinetis_setenable(priv->base, 0); + + /* Set SYS_CLOCK src */ + + regval = getreg32(priv->base + KINETIS_CAN_CTRL1_OFFSET); + regval &= ~CAN_CTRL1_CLKSRC; + putreg32(regval, priv->base + KINETIS_CAN_CTRL1_OFFSET); + + kinetis_setenable(priv->base, 1); + + kinetis_reset(priv); + + /* Enter freeze mode */ + + kinetis_setfreeze(priv->base, 1); + if (!kinetis_waitfreezeack_change(priv->base, 1)) + { + ninfo("FLEXCAN: freeze fail\r\n"); + return -1; + } + +#ifndef CONFIG_NET_CAN_CANFD + regval = getreg32(priv->base + KINETIS_CAN_CTRL1_OFFSET); + regval |= CAN_CTRL1_PRESDIV(priv->arbi_timing.presdiv) | /* Prescaler divisor factor */ + CAN_CTRL1_PROPSEG(priv->arbi_timing.propseg) | /* Propagation segment */ + CAN_CTRL1_PSEG1(priv->arbi_timing.pseg1) | /* Phase buffer segment 1 */ + CAN_CTRL1_PSEG2(priv->arbi_timing.pseg2) | /* Phase buffer segment 2 */ + CAN_CTRL1_RJW(1); /* Resynchronization jump width */ + putreg32(regval, priv->base + KINETIS_CAN_CTRL1_OFFSET); + +#else + regval = getreg32(priv->base + KINETIS_CAN_CBT_OFFSET); + regval |= CAN_CBT_BTF | /* Enable extended bit timing + * configurations for CAN-FD for setting up + * separately nominal and data phase */ + CAN_CBT_EPRESDIV(priv->arbi_timing.presdiv) | /* Prescaler divisor factor */ + CAN_CBT_EPROPSEG(priv->arbi_timing.propseg) | /* Propagation segment */ + CAN_CBT_EPSEG1(priv->arbi_timing.pseg1) | /* Phase buffer segment 1 */ + CAN_CBT_EPSEG2(priv->arbi_timing.pseg2) | /* Phase buffer segment 2 */ + CAN_CBT_ERJW(1); /* Resynchronization jump width */ + putreg32(regval, priv->base + KINETIS_CAN_CBT_OFFSET); + + /* Enable CAN FD feature */ + + regval = getreg32(priv->base + KINETIS_CAN_MCR_OFFSET); + regval |= CAN_MCR_FDEN; + putreg32(regval, priv->base + KINETIS_CAN_MCR_OFFSET); + + regval = getreg32(priv->base + KINETIS_CAN_FDCBT_OFFSET); + regval |= CAN_FDCBT_FPRESDIV(priv->data_timing.presdiv) | /* Prescaler divisor factor of 1 */ + CAN_FDCBT_FPROPSEG(priv->data_timing.propseg) | /* Propagation + * segment (only register that doesn't add 1) */ + CAN_FDCBT_FPSEG1(priv->data_timing.pseg1) | /* Phase buffer segment 1 */ + CAN_FDCBT_FPSEG2(priv->data_timing.pseg2) | /* Phase buffer segment 2 */ + CAN_FDCBT_FRJW(priv->data_timing.pseg2); /* Resynchorinzation jump width same as PSEG2 */ + putreg32(regval, priv->base + KINETIS_CAN_FDCBT_OFFSET); + + /* Additional CAN-FD configurations */ + + regval = getreg32(priv->base + KINETIS_CAN_FDCTRL_OFFSET); + + regval |= CAN_FDCTRL_FDRATE | /* Enable bit rate switch in data phase of frame */ + CAN_FDCTRL_TDCEN | /* Enable transceiver delay compensation */ + CAN_FDCTRL_TDCOFF(5) | /* Setup 5 cycles for data phase sampling delay */ + CAN_FDCTRL_MBDSR0(3); /* Setup 64 bytes per message buffer (7 MB's) */ + putreg32(regval, priv->base + KINETIS_CAN_FDCTRL_OFFSET); + + regval = getreg32(priv->base + KINETIS_CAN_CTRL2_OFFSET); + regval |= CAN_CTRL2_ISOCANFDEN; + putreg32(regval, priv->base + KINETIS_CAN_CTRL2_OFFSET); +#endif + + for (i = TXMBCOUNT; i < TOTALMBCOUNT; i++) + { + priv->rx[i].id.w = 0x0; + + /* FIXME sometimes we get a hard fault here */ + } + + putreg32(0x0, priv->base + KINETIS_CAN_RXFGMASK_OFFSET); + + for (i = 0; i < TOTALMBCOUNT; i++) + { + putreg32(0, priv->base + KINETIS_CAN_RXIMR_OFFSET(i)); + } + + for (i = 0; i < RXMBCOUNT; i++) + { + ninfo("Set MB%i to receive %p\r\n", i, &priv->rx[i]); + priv->rx[i].cs.edl = 0x1; + priv->rx[i].cs.brs = 0x1; + priv->rx[i].cs.esi = 0x0; + priv->rx[i].cs.code = 4; + priv->rx[i].cs.srr = 0x0; + priv->rx[i].cs.ide = 0x1; + priv->rx[i].cs.rtr = 0x0; + } + + putreg32(IFLAG1_RX, priv->base + KINETIS_CAN_IFLAG1_OFFSET); + putreg32(IFLAG1_RX, priv->base + KINETIS_CAN_IMASK1_OFFSET); + + /* Exit freeze mode */ + + kinetis_setfreeze(priv->base, 0); + if (!kinetis_waitfreezeack_change(priv->base, 0)) + { + ninfo("FLEXCAN: unfreeze fail\r\n"); + return -1; + } + + return 1; +} + +/**************************************************************************** + * Function: kinetis_reset + * + * Description: + * Put the EMAC in the non-operational, reset state + * + * Input Parameters: + * priv - Reference to the private FLEXCAN driver state structure + * + * Returned Value: + * None + * + * Assumptions: + * + ****************************************************************************/ + +static void kinetis_reset(struct kinetis_driver_s *priv) +{ + uint32_t regval; + uint32_t i; + + regval = getreg32(priv->base + KINETIS_CAN_MCR_OFFSET); + regval |= CAN_MCR_SOFTRST; + putreg32(regval, priv->base + KINETIS_CAN_MCR_OFFSET); + + if (!kinetis_waitmcr_change(priv->base, CAN_MCR_SOFTRST, 0)) + { + nerr("Reset failed"); + return; + } + + regval = getreg32(priv->base + KINETIS_CAN_MCR_OFFSET); + regval &= ~(CAN_MCR_SUPV); + putreg32(regval, priv->base + KINETIS_CAN_MCR_OFFSET); + + /* Initialize all MB rx and tx */ + + for (i = 0; i < TOTALMBCOUNT; i++) + { + ninfo("MB %i %p\r\n", i, &priv->rx[i]); + ninfo("MB %i %p\r\n", i, &priv->rx[i].id.w); + priv->rx[i].cs.cs = 0x0; + priv->rx[i].id.w = 0x0; + priv->rx[i].data[0].w00 = 0x0; + priv->rx[i].data[1].w00 = 0x0; + } + + regval = getreg32(priv->base + KINETIS_CAN_MCR_OFFSET); + regval |= CAN_MCR_SLFWAK | CAN_MCR_WRNEN | CAN_MCR_SRXDIS | + CAN_MCR_IRMQ | CAN_MCR_AEN | + (((TOTALMBCOUNT - 1) << CAN_MCR_MAXMB_SHIFT) & + CAN_MCR_MAXMB_MASK); + putreg32(regval, priv->base + KINETIS_CAN_MCR_OFFSET); + + regval = CAN_CTRL2_RRS | CAN_CTRL2_EACEN; + putreg32(regval, priv->base + KINETIS_CAN_CTRL2_OFFSET); + + for (i = 0; i < TOTALMBCOUNT; i++) + { + putreg32(0, priv->base + KINETIS_CAN_RXIMR_OFFSET(i)); + } + + /* Filtering catchall */ + + putreg32(0x3fffffff, priv->base + KINETIS_CAN_RX14MASK_OFFSET); + putreg32(0x3fffffff, priv->base + KINETIS_CAN_RX15MASK_OFFSET); + putreg32(0x3fffffff, priv->base + KINETIS_CAN_RXMGMASK_OFFSET); + putreg32(0x0, priv->base + KINETIS_CAN_RXFGMASK_OFFSET); +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Function: kinetis_caninitialize + * + * Description: + * Initialize the CAN controller and driver + * + * Input Parameters: + * intf - In the case where there are multiple CAN, this value + * identifies which CAN is to be initialized. + * + * Returned Value: + * OK on success; Negated errno on failure. + * + * Assumptions: + * + ****************************************************************************/ + +int kinetis_caninitialize(int intf) +{ + struct kinetis_driver_s *priv; + int ret; + uint32_t regval; + + switch (intf) + { +#ifdef CONFIG_KINETIS_FLEXCAN0 + case 0: + priv = &g_flexcan0; + memset(priv, 0, sizeof(struct kinetis_driver_s)); + priv->base = KINETIS_CAN0_BASE; + priv->config = &kinetis_flexcan0_config; + + /* Default bitrate configuration */ + +# ifdef CONFIG_NET_CAN_CANFD + priv->arbi_timing.bitrate = CONFIG_FLEXCAN0_ARBI_BITRATE; + priv->arbi_timing.samplep = CONFIG_FLEXCAN0_ARBI_SAMPLEP; + priv->data_timing.bitrate = CONFIG_FLEXCAN0_DATA_BITRATE; + priv->data_timing.samplep = CONFIG_FLEXCAN0_DATA_SAMPLEP; +# else + priv->arbi_timing.bitrate = CONFIG_FLEXCAN0_BITRATE; + priv->arbi_timing.samplep = CONFIG_FLEXCAN0_SAMPLEP; +# endif + regval = getreg32(KINETIS_SIM_SCGC6); + regval |= SIM_SCGC6_FLEXCAN0; + putreg32(regval, KINETIS_SIM_SCGC6); + break; +#endif + +#ifdef CONFIG_KINETIS_FLEXCAN1 + case 1: + priv = &g_flexcan1; + memset(priv, 0, sizeof(struct kinetis_driver_s)); + priv->base = KINETIS_CAN1_BASE; + priv->config = &kinetis_flexcan1_config; + + /* Default bitrate configuration */ + +# ifdef CONFIG_NET_CAN_CANFD + priv->arbi_timing.bitrate = CONFIG_FLEXCAN1_ARBI_BITRATE; + priv->arbi_timing.samplep = CONFIG_FLEXCAN1_ARBI_SAMPLEP; + priv->data_timing.bitrate = CONFIG_FLEXCAN1_DATA_BITRATE; + priv->data_timing.samplep = CONFIG_FLEXCAN1_DATA_SAMPLEP; +# else + priv->arbi_timing.bitrate = CONFIG_FLEXCAN1_BITRATE; + priv->arbi_timing.samplep = CONFIG_FLEXCAN1_SAMPLEP; +# endif + regval = getreg32(KINETIS_SIM_SCGC3); + regval |= SIM_SCGC3_FLEXCAN1; + putreg32(regval, KINETIS_SIM_SCGC3); + break; +#endif + +#ifdef CONFIG_KINETIS_FLEXCAN2 + case 2: + priv = &g_flexcan2; + memset(priv, 0, sizeof(struct kinetis_driver_s)); + priv->base = KINETIS_CAN2_BASE; + priv->config = &kinetis_flexcan2_config; + + /* Default bitrate configuration */ + +# ifdef CONFIG_NET_CAN_CANFD + priv->arbi_timing.bitrate = CONFIG_FLEXCAN2_ARBI_BITRATE; + priv->arbi_timing.samplep = CONFIG_FLEXCAN2_ARBI_SAMPLEP; + priv->data_timing.bitrate = CONFIG_FLEXCAN2_DATA_BITRATE; + priv->data_timing.samplep = CONFIG_FLEXCAN2_DATA_SAMPLEP; +# else + priv->arbi_timing.bitrate = CONFIG_FLEXCAN2_BITRATE; + priv->arbi_timing.samplep = CONFIG_FLEXCAN2_SAMPLEP; +# endif + break; +#endif + + default: + return -ENODEV; + } + + if (!kinetis_bitratetotimeseg(&priv->arbi_timing, 1, 0)) + { + nerr("ERROR: Invalid CAN timings please try another sample point " + "or refer to the reference manual\n"); + return -1; + } + +#ifdef CONFIG_NET_CAN_CANFD + if (!kinetis_bitratetotimeseg(&priv->data_timing, 1, 1)) + { + nerr("ERROR: Invalid CAN data phase timings please try another " + "sample point or refer to the reference manual\n"); + return -1; + } +#endif + + kinetis_pinconfig(priv->config->tx_pin); + kinetis_pinconfig(priv->config->rx_pin); + if (priv->config->enable_pin > 0) + { + kinetis_pinconfig(priv->config->enable_pin); + kinetis_gpiowrite(priv->config->enable_pin, priv->config->enable_high); + } + + /* Attach the flexcan interrupt handler */ + + if (irq_attach(priv->config->bus_irq, kinetis_flexcan_interrupt, priv)) + { + /* We could not attach the ISR to the interrupt */ + + nerr("ERROR: Failed to attach CAN bus IRQ\n"); + return -EAGAIN; + } + + if (irq_attach(priv->config->error_irq, kinetis_flexcan_interrupt, priv)) + { + /* We could not attach the ISR to the interrupt */ + + nerr("ERROR: Failed to attach CAN error IRQ\n"); + return -EAGAIN; + } + + if (priv->config->lprx_irq > 0) + { + if (irq_attach(priv->config->lprx_irq, + kinetis_flexcan_interrupt, priv)) + { + /* We could not attach the ISR to the interrupt */ + + nerr("ERROR: Failed to attach CAN LPRX IRQ\n"); + return -EAGAIN; + } + } + + if (irq_attach(priv->config->mb_irq, kinetis_flexcan_interrupt, priv)) + { + /* We could not attach the ISR to the interrupt */ + + nerr("ERROR: Failed to attach CAN OR'ed Message buffer (0-15) IRQ\n"); + return -EAGAIN; + } + + /* Initialize the driver structure */ + + priv->dev.d_ifup = kinetis_ifup; /* I/F up (new IP address) callback */ + priv->dev.d_ifdown = kinetis_ifdown; /* I/F down callback */ + priv->dev.d_txavail = kinetis_txavail; /* New TX data callback */ +#ifdef CONFIG_NETDEV_IOCTL + priv->dev.d_ioctl = kinetis_ioctl; /* Support CAN ioctl() calls */ +#endif + priv->dev.d_private = (void *)priv; /* Used to recover private state from dev */ + +#ifdef TX_TIMEOUT_WQ + for (int i = 0; i < TXMBCOUNT; i++) + { + priv->txtimeout[i] = wd_create(); /* Create TX timeout timer */ + } + +#endif + priv->rx = (struct mb_s *)(priv->base + KINETIS_CAN_MB_OFFSET); + priv->tx = (struct mb_s *)(priv->base + KINETIS_CAN_MB_OFFSET + + (sizeof(struct mb_s) * RXMBCOUNT)); + + /* Put the interface in the down state. This usually amounts to resetting + * the device and/or calling kinetis_ifdown(). + */ + + ninfo("callbacks done\r\n"); + + kinetis_ifdown(&priv->dev); + + /* Register the device with the OS so that socket IOCTLs can be performed */ + + netdev_register(&priv->dev, NET_LL_CAN); + + UNUSED(ret); + return OK; +} + +/**************************************************************************** + * Name: arm_netinitialize + * + * Description: + * Initialize the first network interface. If there are more than one + * interface in the chip, then board-specific logic will have to provide + * this function to determine which, if any, Ethernet controllers should + * be initialized. + * + ****************************************************************************/ + +#if !defined(CONFIG_NETDEV_LATEINIT) +void arm_netinitialize(void) +{ +#ifdef CONFIG_KINETIS_FLEXCAN0 + kinetis_caninitialize(0); +#endif + +#ifdef CONFIG_KINETIS_FLEXCAN1 + kinetis_caninitialize(1); +#endif + +#ifdef CONFIG_KINETIS_FLEXCAN2 + kinetis_caninitialize(2); +#endif +} +#endif + +#endif /* CONFIG_KINETIS_FLEXCAN */