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[DeviceDriver] Add CANFD support and correct typos (#5912)
* Add CANFD support and correct typos - Added CANFD required fields to can.h - Fixed typos in can.h and can.c - Corrected all the projects affected by the typo - Fixed wrong line-ending in some affected can driver files Signed-off-by: Fan YANG <fan.yang@hpmicro.com> * update Signed-off-by: Fan YANG <fan.yang@hpmicro.com> Co-authored-by: Meco Man <920369182@qq.com>
This commit is contained in:
Fan Yang
Meco Man
@@ -53,6 +53,9 @@ if RT_USING_CAN
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config RT_CAN_USING_HDR
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bool "Enable CAN hardware filter"
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default n
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config RT_CAN_USING_CANFD
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bool "Enable CANFD support"
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default n
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endif
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config RT_USING_HWTIMER
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@@ -924,7 +924,7 @@ int cmd_canstat(int argc, void **argv)
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rt_kprintf(" Can't find can device %s\n", argv[1]);
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return -1;
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}
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rt_kprintf(" Finded can device: %s...", argv[1]);
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rt_kprintf(" Found can device: %s...", argv[1]);
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rt_device_control(candev, RT_CAN_CMD_GET_STATUS, &status);
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rt_kprintf("\n Receive...error..count: %010ld. Send.....error....count: %010ld.",
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@@ -954,9 +954,9 @@ int cmd_canstat(int argc, void **argv)
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rt_kprintf("%s.", ErrCode[3]);
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break;
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}
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rt_kprintf("\n Total.receive.packages: %010ld. Droped.receive.packages: %010ld.",
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rt_kprintf("\n Total.receive.packages: %010ld. Dropped.receive.packages: %010ld.",
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status.rcvpkg, status.dropedrcvpkg);
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rt_kprintf("\n Total..send...packages: %010ld. Droped...send..packages: %010ld.\n",
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rt_kprintf("\n Total..send...packages: %010ld. Dropped...send..packages: %010ld.\n",
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status.sndpkg + status.dropedsndpkg, status.dropedsndpkg);
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}
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else
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@@ -1,5 +1,5 @@
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/*
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* Copyright (c) 2006-2021, RT-Thread Development Team
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* Copyright (c) 2006-2022, RT-Thread Development Team
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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@@ -7,6 +7,7 @@
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* Date Author Notes
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* 2015-05-14 aubrcool@qq.com first version
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* 2015-07-06 Bernard remove RT_CAN_USING_LED.
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* 2022-05-08 hpmicro add CANFD support, fixed typos
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*/
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#ifndef CAN_H_
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@@ -21,6 +22,26 @@
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#define RT_CANSND_BOX_NUM 1
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#endif
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enum CAN_DLC
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{
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CAN_MSG_0BYTE = 0,
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CAN_MSG_1BYTE,
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CAN_MSG_2BYTES,
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CAN_MSG_3BYTES,
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CAN_MSG_4BYTES,
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CAN_MSG_5BYTES,
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CAN_MSG_6BYTES,
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CAN_MSG_7BYTES,
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CAN_MSG_8BYTES,
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CAN_MSG_12BYTES,
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CAN_MSG_16BYTES,
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CAN_MSG_20BYTES,
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CAN_MSG_24BYTES,
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CAN_MSG_32BYTES,
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CAN_MSG_48BYTES,
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CAN_MSG_64BYTES,
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};
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enum CANBAUD
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{
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CAN1MBaud = 1000UL * 1000,/* 1 MBit/sec */
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@@ -35,9 +56,9 @@ enum CANBAUD
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};
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#define RT_CAN_MODE_NORMAL 0
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#define RT_CAN_MODE_LISEN 1
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#define RT_CAN_MODE_LISTEN 1
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#define RT_CAN_MODE_LOOPBACK 2
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#define RT_CAN_MODE_LOOPBACKANLISEN 3
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#define RT_CAN_MODE_LOOPBACKANLISTEN 3
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#define RT_CAN_MODE_PRIV 0x01
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#define RT_CAN_MODE_NOPRIV 0x00
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@@ -96,6 +117,27 @@ struct rt_can_filter_config
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struct rt_can_filter_item *items;
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};
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struct rt_can_bit_timing
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{
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rt_uint16_t prescaler; /* Pre-scaler */
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rt_uint16_t num_seg1; /* Bit Timing Segment 1, in terms of Tq */
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rt_uint16_t num_seg2; /* Bit Timing Segment 2, in terms of Tq */
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rt_uint8_t num_sjw; /* Synchronization Jump Width, in terms of Tq */
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rt_uint8_t num_sspoff; /* Secondary Sample Point Offset, in terms of Tq */
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};
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/**
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* CAN bit timing configuration list
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* NOTE:
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* items[0] always for CAN2.0/CANFD Arbitration Phase
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* items[1] always for CANFD (if it exists)
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*/
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struct rt_can_bit_timing_config
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{
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rt_uint32_t count;
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struct rt_can_bit_timing *items;
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};
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struct can_configure
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{
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rt_uint32_t baud_rate;
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@@ -108,6 +150,17 @@ struct can_configure
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#ifdef RT_CAN_USING_HDR
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rt_uint32_t maxhdr;
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#endif
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#ifdef RT_CAN_USING_CANFD
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rt_uint32_t baud_rate_fd; /* CANFD data bit rate*/
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rt_uint32_t use_bit_timing: 8; /* Use the bit timing for CAN timing configuration */
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rt_uint32_t enable_canfd : 8; /* Enable CAN-FD mode */
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rt_uint32_t reserved1 : 16;
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/* The below fields take effect only if use_bit_timing is non-zero */
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struct rt_can_bit_timing can_timing; /* CAN bit-timing /CANFD bit-timing for arbitration phase */
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struct rt_can_bit_timing canfd_timing; /* CANFD bit-timing for datat phase */
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#endif
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};
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#define CANDEFAULTCONFIG \
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@@ -126,6 +179,9 @@ struct rt_can_ops;
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#define RT_CAN_CMD_GET_STATUS 0x17
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#define RT_CAN_CMD_SET_STATUS_IND 0x18
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#define RT_CAN_CMD_SET_BUS_HOOK 0x19
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#define RT_CAN_CMD_SET_CANFD 0x1A
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#define RT_CAN_CMD_SET_BAUD_FD 0x1B
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#define RT_CAN_CMD_SET_BITTIMING 0x1C
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#define RT_DEVICE_CAN_INT_ERR 0x1000
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@@ -222,8 +278,17 @@ struct rt_can_msg
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rt_uint32_t len : 8;
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rt_uint32_t priv : 8;
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rt_int32_t hdr : 8;
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#ifdef RT_CAN_USING_CANFD
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rt_uint32_t fd_frame : 1;
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rt_uint32_t reserved : 7;
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#else
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rt_uint32_t reserved : 8;
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#endif
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#ifdef RT_CAN_USING_CANFD
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rt_uint8_t data[64];
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#else
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rt_uint8_t data[8];
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#endif
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};
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typedef struct rt_can_msg *rt_can_msg_t;
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