Zephyr API Documentation 3.7.99
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can_mcan.h
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1/*
2 * Copyright (c) 2023 Vestas Wind Systems A/S
3 * Copyright (c) 2020 Alexander Wachter
4 *
5 * SPDX-License-Identifier: Apache-2.0
6 *
7 */
8
9#ifndef ZEPHYR_INCLUDE_DRIVERS_CAN_CAN_MCAN_H_
10#define ZEPHYR_INCLUDE_DRIVERS_CAN_CAN_MCAN_H_
11
12#include <zephyr/cache.h>
13#include <zephyr/devicetree.h>
14#include <zephyr/drivers/can.h>
15#include <zephyr/kernel.h>
16#include <zephyr/sys/sys_io.h>
17#include <zephyr/sys/util.h>
18
19/*
20 * The Bosch M_CAN register definitions correspond to those found in the Bosch M_CAN Controller Area
21 * Network User's Manual, Revision 3.3.0.
22 */
23
24/* Core Release register */
25#define CAN_MCAN_CREL 0x000
26#define CAN_MCAN_CREL_REL GENMASK(31, 28)
27#define CAN_MCAN_CREL_STEP GENMASK(27, 24)
28#define CAN_MCAN_CREL_SUBSTEP GENMASK(23, 20)
29#define CAN_MCAN_CREL_YEAR GENMASK(19, 16)
30#define CAN_MCAN_CREL_MON GENMASK(15, 8)
31#define CAN_MCAN_CREL_DAY GENMASK(7, 0)
32
33/* Endian register */
34#define CAN_MCAN_ENDN 0x004
35#define CAN_MCAN_ENDN_ETV GENMASK(31, 0)
36
37/* Customer register */
38#define CAN_MCAN_CUST 0x008
39#define CAN_MCAN_CUST_CUST GENMASK(31, 0)
40
41/* Data Bit Timing & Prescaler register */
42#define CAN_MCAN_DBTP 0x00C
43#define CAN_MCAN_DBTP_TDC BIT(23)
44#define CAN_MCAN_DBTP_DBRP GENMASK(20, 16)
45#define CAN_MCAN_DBTP_DTSEG1 GENMASK(12, 8)
46#define CAN_MCAN_DBTP_DTSEG2 GENMASK(7, 4)
47#define CAN_MCAN_DBTP_DSJW GENMASK(3, 0)
48
49/* Test register */
50#define CAN_MCAN_TEST 0x010
51#define CAN_MCAN_TEST_SVAL BIT(21)
52#define CAN_MCAN_TEST_TXBNS GENMASK(20, 16)
53#define CAN_MCAN_TEST_PVAL BIT(13)
54#define CAN_MCAN_TEST_TXBNP GENMASK(12, 8)
55#define CAN_MCAN_TEST_RX BIT(7)
56#define CAN_MCAN_TEST_TX GENMASK(6, 5)
57#define CAN_MCAN_TEST_LBCK BIT(4)
58
59/* RAM Watchdog register */
60#define CAN_MCAN_RWD 0x014
61#define CAN_MCAN_RWD_WDV GENMASK(15, 8)
62#define CAN_MCAN_RWD_WDC GENMASK(7, 0)
63
64/* CC Control register */
65#define CAN_MCAN_CCCR 0x018
66#define CAN_MCAN_CCCR_NISO BIT(15)
67#define CAN_MCAN_CCCR_TXP BIT(14)
68#define CAN_MCAN_CCCR_EFBI BIT(13)
69#define CAN_MCAN_CCCR_PXHD BIT(12)
70#define CAN_MCAN_CCCR_WMM BIT(11)
71#define CAN_MCAN_CCCR_UTSU BIT(10)
72#define CAN_MCAN_CCCR_BRSE BIT(9)
73#define CAN_MCAN_CCCR_FDOE BIT(8)
74#define CAN_MCAN_CCCR_TEST BIT(7)
75#define CAN_MCAN_CCCR_DAR BIT(6)
76#define CAN_MCAN_CCCR_MON BIT(5)
77#define CAN_MCAN_CCCR_CSR BIT(4)
78#define CAN_MCAN_CCCR_CSA BIT(3)
79#define CAN_MCAN_CCCR_ASM BIT(2)
80#define CAN_MCAN_CCCR_CCE BIT(1)
81#define CAN_MCAN_CCCR_INIT BIT(0)
82
83/* Nominal Bit Timing & Prescaler register */
84#define CAN_MCAN_NBTP 0x01C
85#define CAN_MCAN_NBTP_NSJW GENMASK(31, 25)
86#define CAN_MCAN_NBTP_NBRP GENMASK(24, 16)
87#define CAN_MCAN_NBTP_NTSEG1 GENMASK(15, 8)
88#define CAN_MCAN_NBTP_NTSEG2 GENMASK(6, 0)
89
90/* Timestamp Counter Configuration register */
91#define CAN_MCAN_TSCC 0x020
92#define CAN_MCAN_TSCC_TCP GENMASK(19, 16)
93#define CAN_MCAN_TSCC_TSS GENMASK(1, 0)
94
95/* Timestamp Counter Value register */
96#define CAN_MCAN_TSCV 0x024
97#define CAN_MCAN_TSCV_TSC GENMASK(15, 0)
98
99/* Timeout Counter Configuration register */
100#define CAN_MCAN_TOCC 0x028
101#define CAN_MCAN_TOCC_TOP GENMASK(31, 16)
102#define CAN_MCAN_TOCC_TOS GENMASK(2, 1)
103#define CAN_MCAN_TOCC_ETOC BIT(1)
104
105/* Timeout Counter Value register */
106#define CAN_MCAN_TOCV 0x02C
107#define CAN_MCAN_TOCV_TOC GENMASK(15, 0)
108
109/* Error Counter register */
110#define CAN_MCAN_ECR 0x040
111#define CAN_MCAN_ECR_CEL GENMASK(23, 16)
112#define CAN_MCAN_ECR_RP BIT(15)
113#define CAN_MCAN_ECR_REC GENMASK(14, 8)
114#define CAN_MCAN_ECR_TEC GENMASK(7, 0)
115
116/* Protocol Status register */
117#define CAN_MCAN_PSR 0x044
118#define CAN_MCAN_PSR_TDCV GENMASK(22, 16)
119#define CAN_MCAN_PSR_PXE BIT(14)
120#define CAN_MCAN_PSR_RFDF BIT(13)
121#define CAN_MCAN_PSR_RBRS BIT(12)
122#define CAN_MCAN_PSR_RESI BIT(11)
123#define CAN_MCAN_PSR_DLEC GENMASK(10, 8)
124#define CAN_MCAN_PSR_BO BIT(7)
125#define CAN_MCAN_PSR_EW BIT(6)
126#define CAN_MCAN_PSR_EP BIT(5)
127#define CAN_MCAN_PSR_ACT GENMASK(4, 3)
128#define CAN_MCAN_PSR_LEC GENMASK(2, 0)
129
140
141/* Transmitter Delay Compensation register */
142#define CAN_MCAN_TDCR 0x048
143#define CAN_MCAN_TDCR_TDCO GENMASK(14, 8)
144#define CAN_MCAN_TDCR_TDCF GENMASK(6, 0)
145
146/* Interrupt register */
147#define CAN_MCAN_IR 0x050
148#define CAN_MCAN_IR_ARA BIT(29)
149#define CAN_MCAN_IR_PED BIT(28)
150#define CAN_MCAN_IR_PEA BIT(27)
151#define CAN_MCAN_IR_WDI BIT(26)
152#define CAN_MCAN_IR_BO BIT(25)
153#define CAN_MCAN_IR_EW BIT(24)
154#define CAN_MCAN_IR_EP BIT(23)
155#define CAN_MCAN_IR_ELO BIT(22)
156#define CAN_MCAN_IR_BEU BIT(21)
157#define CAN_MCAN_IR_BEC BIT(20)
158#define CAN_MCAN_IR_DRX BIT(19)
159#define CAN_MCAN_IR_TOO BIT(18)
160#define CAN_MCAN_IR_MRAF BIT(17)
161#define CAN_MCAN_IR_TSW BIT(16)
162#define CAN_MCAN_IR_TEFL BIT(15)
163#define CAN_MCAN_IR_TEFF BIT(14)
164#define CAN_MCAN_IR_TEFW BIT(13)
165#define CAN_MCAN_IR_TEFN BIT(12)
166#define CAN_MCAN_IR_TFE BIT(11)
167#define CAN_MCAN_IR_TCF BIT(10)
168#define CAN_MCAN_IR_TC BIT(9)
169#define CAN_MCAN_IR_HPM BIT(8)
170#define CAN_MCAN_IR_RF1L BIT(7)
171#define CAN_MCAN_IR_RF1F BIT(6)
172#define CAN_MCAN_IR_RF1W BIT(5)
173#define CAN_MCAN_IR_RF1N BIT(4)
174#define CAN_MCAN_IR_RF0L BIT(3)
175#define CAN_MCAN_IR_RF0F BIT(2)
176#define CAN_MCAN_IR_RF0W BIT(1)
177#define CAN_MCAN_IR_RF0N BIT(0)
178
179/* Interrupt Enable register */
180#define CAN_MCAN_IE 0x054
181#define CAN_MCAN_IE_ARAE BIT(29)
182#define CAN_MCAN_IE_PEDE BIT(28)
183#define CAN_MCAN_IE_PEAE BIT(27)
184#define CAN_MCAN_IE_WDIE BIT(26)
185#define CAN_MCAN_IE_BOE BIT(25)
186#define CAN_MCAN_IE_EWE BIT(24)
187#define CAN_MCAN_IE_EPE BIT(23)
188#define CAN_MCAN_IE_ELOE BIT(22)
189#define CAN_MCAN_IE_BEUE BIT(21)
190#define CAN_MCAN_IE_BECE BIT(20)
191#define CAN_MCAN_IE_DRXE BIT(19)
192#define CAN_MCAN_IE_TOOE BIT(18)
193#define CAN_MCAN_IE_MRAFE BIT(17)
194#define CAN_MCAN_IE_TSWE BIT(16)
195#define CAN_MCAN_IE_TEFLE BIT(15)
196#define CAN_MCAN_IE_TEFFE BIT(14)
197#define CAN_MCAN_IE_TEFWE BIT(13)
198#define CAN_MCAN_IE_TEFNE BIT(12)
199#define CAN_MCAN_IE_TFEE BIT(11)
200#define CAN_MCAN_IE_TCFE BIT(10)
201#define CAN_MCAN_IE_TCE BIT(9)
202#define CAN_MCAN_IE_HPME BIT(8)
203#define CAN_MCAN_IE_RF1LE BIT(7)
204#define CAN_MCAN_IE_RF1FE BIT(6)
205#define CAN_MCAN_IE_RF1WE BIT(5)
206#define CAN_MCAN_IE_RF1NE BIT(4)
207#define CAN_MCAN_IE_RF0LE BIT(3)
208#define CAN_MCAN_IE_RF0FE BIT(2)
209#define CAN_MCAN_IE_RF0WE BIT(1)
210#define CAN_MCAN_IE_RF0NE BIT(0)
211
212/* Interrupt Line Select register */
213#define CAN_MCAN_ILS 0x058
214#define CAN_MCAN_ILS_ARAL BIT(29)
215#define CAN_MCAN_ILS_PEDL BIT(28)
216#define CAN_MCAN_ILS_PEAL BIT(27)
217#define CAN_MCAN_ILS_WDIL BIT(26)
218#define CAN_MCAN_ILS_BOL BIT(25)
219#define CAN_MCAN_ILS_EWL BIT(24)
220#define CAN_MCAN_ILS_EPL BIT(23)
221#define CAN_MCAN_ILS_ELOL BIT(22)
222#define CAN_MCAN_ILS_BEUL BIT(21)
223#define CAN_MCAN_ILS_BECL BIT(20)
224#define CAN_MCAN_ILS_DRXL BIT(19)
225#define CAN_MCAN_ILS_TOOL BIT(18)
226#define CAN_MCAN_ILS_MRAFL BIT(17)
227#define CAN_MCAN_ILS_TSWL BIT(16)
228#define CAN_MCAN_ILS_TEFLL BIT(15)
229#define CAN_MCAN_ILS_TEFFL BIT(14)
230#define CAN_MCAN_ILS_TEFWL BIT(13)
231#define CAN_MCAN_ILS_TEFNL BIT(12)
232#define CAN_MCAN_ILS_TFEL BIT(11)
233#define CAN_MCAN_ILS_TCFL BIT(10)
234#define CAN_MCAN_ILS_TCL BIT(9)
235#define CAN_MCAN_ILS_HPML BIT(8)
236#define CAN_MCAN_ILS_RF1LL BIT(7)
237#define CAN_MCAN_ILS_RF1FL BIT(6)
238#define CAN_MCAN_ILS_RF1WL BIT(5)
239#define CAN_MCAN_ILS_RF1NL BIT(4)
240#define CAN_MCAN_ILS_RF0LL BIT(3)
241#define CAN_MCAN_ILS_RF0FL BIT(2)
242#define CAN_MCAN_ILS_RF0WL BIT(1)
243#define CAN_MCAN_ILS_RF0NL BIT(0)
244
245/* Interrupt Line Enable register */
246#define CAN_MCAN_ILE 0x05C
247#define CAN_MCAN_ILE_EINT1 BIT(1)
248#define CAN_MCAN_ILE_EINT0 BIT(0)
249
250/* Global filter configuration register */
251#define CAN_MCAN_GFC 0x080
252#define CAN_MCAN_GFC_ANFS GENMASK(5, 4)
253#define CAN_MCAN_GFC_ANFE GENMASK(3, 2)
254#define CAN_MCAN_GFC_RRFS BIT(1)
255#define CAN_MCAN_GFC_RRFE BIT(0)
256
257/* Standard ID Filter Configuration register */
258#define CAN_MCAN_SIDFC 0x084
259#define CAN_MCAN_SIDFC_LSS GENMASK(23, 16)
260#define CAN_MCAN_SIDFC_FLSSA GENMASK(15, 2)
261
262/* Extended ID Filter Configuration register */
263#define CAN_MCAN_XIDFC 0x088
264#define CAN_MCAN_XIDFC_LSS GENMASK(22, 16)
265#define CAN_MCAN_XIDFC_FLESA GENMASK(15, 2)
266
267/* Extended ID AND Mask register */
268#define CAN_MCAN_XIDAM 0x090
269#define CAN_MCAN_XIDAM_EIDM GENMASK(28, 0)
270
271/* High Priority Message Status register */
272#define CAN_MCAN_HPMS 0x094
273#define CAN_MCAN_HPMS_FLST BIT(15)
274#define CAN_MCAN_HPMS_FIDX GENMASK(14, 8)
275#define CAN_MCAN_HPMS_MSI GENMASK(7, 6)
276#define CAN_MCAN_HPMS_BIDX GENMASK(5, 0)
277
278/* New Data 1 register */
279#define CAN_MCAN_NDAT1 0x098
280#define CAN_MCAN_NDAT1_ND GENMASK(31, 0)
281
282/* New Data 2 register */
283#define CAN_MCAN_NDAT2 0x09C
284#define CAN_MCAN_NDAT2_ND GENMASK(31, 0)
285
286/* Rx FIFO 0 Configuration register */
287#define CAN_MCAN_RXF0C 0x0A0
288#define CAN_MCAN_RXF0C_F0OM BIT(31)
289#define CAN_MCAN_RXF0C_F0WM GENMASK(30, 24)
290#define CAN_MCAN_RXF0C_F0S GENMASK(22, 16)
291#define CAN_MCAN_RXF0C_F0SA GENMASK(15, 2)
292
293/* Rx FIFO 0 Status register */
294#define CAN_MCAN_RXF0S 0x0A4
295#define CAN_MCAN_RXF0S_RF0L BIT(25)
296#define CAN_MCAN_RXF0S_F0F BIT(24)
297#define CAN_MCAN_RXF0S_F0PI GENMASK(21, 16)
298#define CAN_MCAN_RXF0S_F0GI GENMASK(13, 8)
299#define CAN_MCAN_RXF0S_F0FL GENMASK(6, 0)
300
301/* Rx FIFO 0 Acknowledge register */
302#define CAN_MCAN_RXF0A 0x0A8
303#define CAN_MCAN_RXF0A_F0AI GENMASK(5, 0)
304
305/* Rx Buffer Configuration register */
306#define CAN_MCAN_RXBC 0x0AC
307#define CAN_MCAN_RXBC_RBSA GENMASK(15, 2)
308
309/* Rx FIFO 1 Configuration register */
310#define CAN_MCAN_RXF1C 0x0B0
311#define CAN_MCAN_RXF1C_F1OM BIT(31)
312#define CAN_MCAN_RXF1C_F1WM GENMASK(30, 24)
313#define CAN_MCAN_RXF1C_F1S GENMASK(22, 16)
314#define CAN_MCAN_RXF1C_F1SA GENMASK(15, 2)
315
316/* Rx FIFO 1 Status register */
317#define CAN_MCAN_RXF1S 0x0B4
318#define CAN_MCAN_RXF1S_RF1L BIT(25)
319#define CAN_MCAN_RXF1S_F1F BIT(24)
320#define CAN_MCAN_RXF1S_F1PI GENMASK(21, 16)
321#define CAN_MCAN_RXF1S_F1GI GENMASK(13, 8)
322#define CAN_MCAN_RXF1S_F1FL GENMASK(6, 0)
323
324/* Rx FIFO 1 Acknowledge register */
325#define CAN_MCAN_RXF1A 0x0B8
326#define CAN_MCAN_RXF1A_F1AI GENMASK(5, 0)
327
328/* Rx Buffer/FIFO Element Size Configuration register */
329#define CAN_MCAN_RXESC 0x0BC
330#define CAN_MCAN_RXESC_RBDS GENMASK(10, 8)
331#define CAN_MCAN_RXESC_F1DS GENMASK(6, 4)
332#define CAN_MCAN_RXESC_F0DS GENMASK(2, 0)
333
334/* Tx Buffer Configuration register */
335#define CAN_MCAN_TXBC 0x0C0
336#define CAN_MCAN_TXBC_TFQM BIT(30)
337#define CAN_MCAN_TXBC_TFQS GENMASK(29, 24)
338#define CAN_MCAN_TXBC_NDTB GENMASK(21, 16)
339#define CAN_MCAN_TXBC_TBSA GENMASK(15, 2)
340
341/* Tx FIFO/Queue Status register */
342#define CAN_MCAN_TXFQS 0x0C4
343#define CAN_MCAN_TXFQS_TFQF BIT(21)
344#define CAN_MCAN_TXFQS_TFQPI GENMASK(20, 16)
345#define CAN_MCAN_TXFQS_TFGI GENMASK(12, 8)
346#define CAN_MCAN_TXFQS_TFFL GENMASK(5, 0)
347
348/* Tx Buffer Element Size Configuration register */
349#define CAN_MCAN_TXESC 0x0C8
350#define CAN_MCAN_TXESC_TBDS GENMASK(2, 0)
351
352/* Tx Buffer Request Pending register */
353#define CAN_MCAN_TXBRP 0x0CC
354#define CAN_MCAN_TXBRP_TRP GENMASK(31, 0)
355
356/* Tx Buffer Add Request register */
357#define CAN_MCAN_TXBAR 0x0D0
358#define CAN_MCAN_TXBAR_AR GENMASK(31, 0)
359
360/* Tx Buffer Cancellation Request register */
361#define CAN_MCAN_TXBCR 0x0D4
362#define CAN_MCAN_TXBCR_CR GENMASK(31, 0)
363
364/* Tx Buffer Transmission Occurred register */
365#define CAN_MCAN_TXBTO 0x0D8
366#define CAN_MCAN_TXBTO_TO GENMASK(31, 0)
367
368/* Tx Buffer Cancellation Finished register */
369#define CAN_MCAN_TXBCF 0x0DC
370#define CAN_MCAN_TXBCF_CF GENMASK(31, 0)
371
372/* Tx Buffer Transmission Interrupt Enable register */
373#define CAN_MCAN_TXBTIE 0x0E0
374#define CAN_MCAN_TXBTIE_TIE GENMASK(31, 0)
375
376/* Tx Buffer Cancellation Finished Interrupt Enable register */
377#define CAN_MCAN_TXBCIE 0x0E4
378#define CAN_MCAN_TXBCIE_CFIE GENMASK(31, 0)
379
380/* Tx Event FIFO Configuration register */
381#define CAN_MCAN_TXEFC 0x0F0
382#define CAN_MCAN_TXEFC_EFWM GENMASK(29, 24)
383#define CAN_MCAN_TXEFC_EFS GENMASK(21, 16)
384#define CAN_MCAN_TXEFC_EFSA GENMASK(15, 2)
385
386/* Tx Event FIFO Status register */
387#define CAN_MCAN_TXEFS 0x0F4
388#define CAN_MCAN_TXEFS_TEFL BIT(25)
389#define CAN_MCAN_TXEFS_EFF BIT(24)
390#define CAN_MCAN_TXEFS_EFPI GENMASK(20, 16)
391#define CAN_MCAN_TXEFS_EFGI GENMASK(12, 8)
392#define CAN_MCAN_TXEFS_EFFL GENMASK(5, 0)
393
394/* Tx Event FIFO Acknowledge register */
395#define CAN_MCAN_TXEFA 0x0F8
396#define CAN_MCAN_TXEFA_EFAI GENMASK(4, 0)
397
407#define CAN_MCAN_MRAM_CFG_OFFSET 0
409#define CAN_MCAN_MRAM_CFG_STD_FILTER 1
411#define CAN_MCAN_MRAM_CFG_EXT_FILTER 2
413#define CAN_MCAN_MRAM_CFG_RX_FIFO0 3
415#define CAN_MCAN_MRAM_CFG_RX_FIFO1 4
417#define CAN_MCAN_MRAM_CFG_RX_BUFFER 5
419#define CAN_MCAN_MRAM_CFG_TX_EVENT_FIFO 6
421#define CAN_MCAN_MRAM_CFG_TX_BUFFER 7
423#define CAN_MCAN_MRAM_CFG_NUM_CELLS 8
424
433#define CAN_MCAN_DT_MRAM_OFFSET(node_id) \
434 DT_PROP_BY_IDX(node_id, bosch_mram_cfg, CAN_MCAN_MRAM_CFG_OFFSET)
435
442#define CAN_MCAN_DT_MRAM_STD_FILTER_ELEMENTS(node_id) \
443 DT_PROP_BY_IDX(node_id, bosch_mram_cfg, CAN_MCAN_MRAM_CFG_STD_FILTER)
444
451#define CAN_MCAN_DT_MRAM_EXT_FILTER_ELEMENTS(node_id) \
452 DT_PROP_BY_IDX(node_id, bosch_mram_cfg, CAN_MCAN_MRAM_CFG_EXT_FILTER)
453
460#define CAN_MCAN_DT_MRAM_RX_FIFO0_ELEMENTS(node_id) \
461 DT_PROP_BY_IDX(node_id, bosch_mram_cfg, CAN_MCAN_MRAM_CFG_RX_FIFO0)
462
469#define CAN_MCAN_DT_MRAM_RX_FIFO1_ELEMENTS(node_id) \
470 DT_PROP_BY_IDX(node_id, bosch_mram_cfg, CAN_MCAN_MRAM_CFG_RX_FIFO1)
471
478#define CAN_MCAN_DT_MRAM_RX_BUFFER_ELEMENTS(node_id) \
479 DT_PROP_BY_IDX(node_id, bosch_mram_cfg, CAN_MCAN_MRAM_CFG_RX_BUFFER)
480
487#define CAN_MCAN_DT_MRAM_TX_EVENT_FIFO_ELEMENTS(node_id) \
488 DT_PROP_BY_IDX(node_id, bosch_mram_cfg, CAN_MCAN_MRAM_CFG_TX_EVENT_FIFO)
489
496#define CAN_MCAN_DT_MRAM_TX_BUFFER_ELEMENTS(node_id) \
497 DT_PROP_BY_IDX(node_id, bosch_mram_cfg, CAN_MCAN_MRAM_CFG_TX_BUFFER)
498
505#define CAN_MCAN_DT_MRAM_STD_FILTER_OFFSET(node_id) (0U)
506
513#define CAN_MCAN_DT_MRAM_EXT_FILTER_OFFSET(node_id) \
514 (CAN_MCAN_DT_MRAM_STD_FILTER_OFFSET(node_id) + \
515 CAN_MCAN_DT_MRAM_STD_FILTER_ELEMENTS(node_id) * sizeof(struct can_mcan_std_filter))
516
523#define CAN_MCAN_DT_MRAM_RX_FIFO0_OFFSET(node_id) \
524 (CAN_MCAN_DT_MRAM_EXT_FILTER_OFFSET(node_id) + \
525 CAN_MCAN_DT_MRAM_EXT_FILTER_ELEMENTS(node_id) * sizeof(struct can_mcan_ext_filter))
526
533#define CAN_MCAN_DT_MRAM_RX_FIFO1_OFFSET(node_id) \
534 (CAN_MCAN_DT_MRAM_RX_FIFO0_OFFSET(node_id) + \
535 CAN_MCAN_DT_MRAM_RX_FIFO0_ELEMENTS(node_id) * sizeof(struct can_mcan_rx_fifo))
536
543#define CAN_MCAN_DT_MRAM_RX_BUFFER_OFFSET(node_id) \
544 (CAN_MCAN_DT_MRAM_RX_FIFO1_OFFSET(node_id) + \
545 CAN_MCAN_DT_MRAM_RX_FIFO1_ELEMENTS(node_id) * sizeof(struct can_mcan_rx_fifo))
546
553#define CAN_MCAN_DT_MRAM_TX_EVENT_FIFO_OFFSET(node_id) \
554 (CAN_MCAN_DT_MRAM_RX_BUFFER_OFFSET(node_id) + \
555 CAN_MCAN_DT_MRAM_RX_BUFFER_ELEMENTS(node_id) * sizeof(struct can_mcan_rx_fifo))
556
563#define CAN_MCAN_DT_MRAM_TX_BUFFER_OFFSET(node_id) \
564 (CAN_MCAN_DT_MRAM_TX_EVENT_FIFO_OFFSET(node_id) + \
565 CAN_MCAN_DT_MRAM_TX_EVENT_FIFO_ELEMENTS(node_id) * sizeof(struct can_mcan_tx_event_fifo))
566
579#define CAN_MCAN_DT_MCAN_ADDR(node_id) \
580 COND_CODE_1(DT_NUM_REGS(node_id), ((mm_reg_t)DT_REG_ADDR(node_id)), \
581 ((mm_reg_t)DT_REG_ADDR_BY_NAME(node_id, m_can)))
582
592#define CAN_MCAN_DT_MRBA(node_id) \
593 (mem_addr_t)DT_REG_ADDR_BY_NAME(node_id, message_ram)
594
604#define CAN_MCAN_DT_MRAM_ADDR(node_id) \
605 (mem_addr_t)(CAN_MCAN_DT_MRBA(node_id) + CAN_MCAN_DT_MRAM_OFFSET(node_id))
606
617#define CAN_MCAN_DT_MRAM_SIZE(node_id) \
618 (mem_addr_t)(DT_REG_SIZE_BY_NAME(node_id, message_ram) - CAN_MCAN_DT_MRAM_OFFSET(node_id))
619
627#define CAN_MCAN_DT_MRAM_ELEMENTS_SIZE(node_id) \
628 (CAN_MCAN_DT_MRAM_TX_BUFFER_OFFSET(node_id) + \
629 CAN_MCAN_DT_MRAM_TX_BUFFER_ELEMENTS(node_id) * sizeof(struct can_mcan_tx_buffer))
630
641#define CAN_MCAN_DT_MRAM_DEFINE(node_id, _name) \
642 BUILD_ASSERT(CAN_MCAN_DT_MRAM_OFFSET(node_id) == 0, "offset must be 0"); \
643 static char __nocache_noinit __aligned(4) _name[CAN_MCAN_DT_MRAM_ELEMENTS_SIZE(node_id)];
644
650#define CAN_MCAN_DT_BUILD_ASSERT_MRAM_CFG(node_id) \
651 BUILD_ASSERT(CAN_MCAN_DT_MRAM_STD_FILTER_ELEMENTS(node_id) <= 128, \
652 "Maximum Standard filter elements exceeded"); \
653 BUILD_ASSERT(CAN_MCAN_DT_MRAM_EXT_FILTER_ELEMENTS(node_id) <= 64, \
654 "Maximum Extended filter elements exceeded"); \
655 BUILD_ASSERT(CAN_MCAN_DT_MRAM_RX_FIFO0_ELEMENTS(node_id) <= 64, \
656 "Maximum Rx FIFO 0 elements exceeded"); \
657 BUILD_ASSERT(CAN_MCAN_DT_MRAM_RX_FIFO1_ELEMENTS(node_id) <= 64, \
658 "Maximum Rx FIFO 1 elements exceeded"); \
659 BUILD_ASSERT(CAN_MCAN_DT_MRAM_RX_BUFFER_ELEMENTS(node_id) <= 64, \
660 "Maximum Rx Buffer elements exceeded"); \
661 BUILD_ASSERT(CAN_MCAN_DT_MRAM_TX_EVENT_FIFO_ELEMENTS(node_id) <= 32, \
662 "Maximum Tx Buffer elements exceeded"); \
663 BUILD_ASSERT(CAN_MCAN_DT_MRAM_TX_BUFFER_ELEMENTS(node_id) <= 32, \
664 "Maximum Tx Buffer elements exceeded");
665
672#define CAN_MCAN_DT_INST_MRAM_OFFSET(inst) CAN_MCAN_DT_MRAM_OFFSET(DT_DRV_INST(inst))
673
680#define CAN_MCAN_DT_INST_MRAM_STD_FILTER_ELEMENTS(inst) \
681 CAN_MCAN_DT_MRAM_STD_FILTER_ELEMENTS(DT_DRV_INST(inst))
682
689#define CAN_MCAN_DT_INST_MRAM_EXT_FILTER_ELEMENTS(inst) \
690 CAN_MCAN_DT_MRAM_EXT_FILTER_ELEMENTS(DT_DRV_INST(inst))
691
698#define CAN_MCAN_DT_INST_MRAM_RX_FIFO0_ELEMENTS(inst) \
699 CAN_MCAN_DT_MRAM_RX_FIFO0_ELEMENTS(DT_DRV_INST(inst))
700
707#define CAN_MCAN_DT_INST_MRAM_RX_FIFO1_ELEMENTS(inst) \
708 CAN_MCAN_DT_MRAM_RX_FIFO1_ELEMENTS(DT_DRV_INST(inst))
709
716#define CAN_MCAN_DT_INST_MRAM_RX_BUFFER_ELEMENTS(inst) \
717 CAN_MCAN_DT_MRAM_RX_BUFFER_ELEMENTS(DT_DRV_INST(inst))
718
725#define CAN_MCAN_DT_INST_MRAM_TX_EVENT_FIFO_ELEMENTS(inst) \
726 CAN_MCAN_DT_MRAM_TX_EVENT_FIFO_ELEMENTS(DT_DRV_INST(inst))
727
734#define CAN_MCAN_DT_INST_MRAM_TX_BUFFER_ELEMENTS(inst) \
735 CAN_MCAN_DT_MRAM_TX_BUFFER_ELEMENTS(DT_DRV_INST(inst))
736
743#define CAN_MCAN_DT_INST_MRAM_STD_FILTER_OFFSET(inst) \
744 CAN_MCAN_DT_MRAM_STD_FILTER_OFFSET(DT_DRV_INST(inst))
745
752#define CAN_MCAN_DT_INST_MRAM_EXT_FILTER_OFFSET(inst) \
753 CAN_MCAN_DT_MRAM_EXT_FILTER_OFFSET(DT_DRV_INST(inst))
754
761#define CAN_MCAN_DT_INST_MRAM_RX_FIFO0_OFFSET(inst) \
762 CAN_MCAN_DT_MRAM_RX_FIFO0_OFFSET(DT_DRV_INST(inst))
763
770#define CAN_MCAN_DT_INST_MRAM_RX_FIFO1_OFFSET(inst) \
771 CAN_MCAN_DT_MRAM_RX_FIFO1_OFFSET(DT_DRV_INST(inst))
772
779#define CAN_MCAN_DT_INST_MRAM_RX_BUFFER_OFFSET(inst) \
780 CAN_MCAN_DT_MRAM_RX_BUFFER_OFFSET(DT_DRV_INST(inst))
781
788#define CAN_MCAN_DT_INST_MRAM_TX_EVENT_FIFO_OFFSET(inst) \
789 CAN_MCAN_DT_MRAM_TX_EVENT_FIFO_OFFSET(DT_DRV_INST(inst))
790
797#define CAN_MCAN_DT_INST_MRAM_TX_BUFFER_OFFSET(inst) \
798 CAN_MCAN_DT_MRAM_TX_BUFFER_OFFSET(DT_DRV_INST(inst))
799
806#define CAN_MCAN_DT_INST_MCAN_ADDR(inst) CAN_MCAN_DT_MCAN_ADDR(DT_DRV_INST(inst))
807
814#define CAN_MCAN_DT_INST_MRBA(inst) CAN_MCAN_DT_MRBA(DT_DRV_INST(inst))
815
822#define CAN_MCAN_DT_INST_MRAM_ADDR(inst) CAN_MCAN_DT_MRAM_ADDR(DT_DRV_INST(inst))
823
830#define CAN_MCAN_DT_INST_MRAM_SIZE(inst) CAN_MCAN_DT_MRAM_SIZE(DT_DRV_INST(inst))
831
838#define CAN_MCAN_DT_INST_MRAM_ELEMENTS_SIZE(inst) CAN_MCAN_DT_MRAM_ELEMENTS_SIZE(DT_DRV_INST(inst))
839
846#define CAN_MCAN_DT_INST_MRAM_DEFINE(inst, _name) CAN_MCAN_DT_MRAM_DEFINE(DT_DRV_INST(inst), _name)
847
851#define CAN_MCAN_TIMING_MIN_INITIALIZER \
852 { \
853 .sjw = 1, \
854 .prop_seg = 0, \
855 .phase_seg1 = 2, \
856 .phase_seg2 = 2, \
857 .prescaler = 1 \
858 }
859
863#define CAN_MCAN_TIMING_MAX_INITIALIZER \
864 { \
865 .sjw = 128, \
866 .prop_seg = 0, \
867 .phase_seg1 = 256, \
868 .phase_seg2 = 128, \
869 .prescaler = 512 \
870 }
871
875#define CAN_MCAN_TIMING_DATA_MIN_INITIALIZER \
876 { \
877 .sjw = 1, \
878 .prop_seg = 0, \
879 .phase_seg1 = 1, \
880 .phase_seg2 = 1, \
881 .prescaler = 1 \
882 }
883
887#define CAN_MCAN_TIMING_DATA_MAX_INITIALIZER \
888 { \
889 .sjw = 16, \
890 .prop_seg = 0, \
891 .phase_seg1 = 32, \
892 .phase_seg2 = 16, \
893 .prescaler = 32 \
894 }
895
901#define CAN_MCAN_DT_INST_BUILD_ASSERT_MRAM_CFG(inst) \
902 CAN_MCAN_DT_BUILD_ASSERT_MRAM_CFG(DT_DRV_INST(inst))
903
910 union {
911 struct {
916 };
917 struct {
921 };
922 };
930} __packed __aligned(4);
931
939 union {
940 uint8_t data[64];
941 uint32_t data_32[16];
942 };
943} __packed __aligned(4);
944
951 union {
952 struct {
957 };
958 struct {
962 };
963 };
971} __packed __aligned(4);
972
980 union {
981 uint8_t data[64];
982 uint32_t data_32[16];
983 };
984} __packed __aligned(4);
985
992 union {
993 struct {
998 };
999 struct {
1003 };
1004 };
1011} __packed __aligned(4);
1012
1013/* Bosch M_CAN Standard/Extended Filter Element Configuration (SFEC/EFEC) */
1014#define CAN_MCAN_XFEC_DISABLE 0x0
1015#define CAN_MCAN_XFEC_FIFO0 0x1
1016#define CAN_MCAN_XFEC_FIFO1 0x2
1017#define CAN_MCAN_XFEC_REJECT 0x3
1018#define CAN_MCAN_XFEC_PRIO 0x4
1019#define CAN_MCAN_XFEC_PRIO_FIFO0 0x5
1020#define CAN_MCAN_XFEC_PRIO_FIFO1 0x7
1021
1022/* Bosch M_CAN Standard Filter Type (SFT) */
1023#define CAN_MCAN_SFT_RANGE 0x0
1024#define CAN_MCAN_SFT_DUAL 0x1
1025#define CAN_MCAN_SFT_CLASSIC 0x2
1026#define CAN_MCAN_SFT_DISABLED 0x3
1027
1040
1041/* Bosch M_CAN Extended Filter Type (EFT) */
1042#define CAN_MCAN_EFT_RANGE_XIDAM 0x0
1043#define CAN_MCAN_EFT_DUAL 0x1
1044#define CAN_MCAN_EFT_CLASSIC 0x2
1045#define CAN_MCAN_EFT_RANGE 0x3
1046
1059
1064 struct can_driver_data common;
1066 struct k_sem tx_sem;
1068 void *custom;
1069} __aligned(4);
1070
1082typedef int (*can_mcan_read_reg_t)(const struct device *dev, uint16_t reg, uint32_t *val);
1083
1095typedef int (*can_mcan_write_reg_t)(const struct device *dev, uint16_t reg, uint32_t val);
1096
1109typedef int (*can_mcan_read_mram_t)(const struct device *dev, uint16_t offset, void *dst,
1110 size_t len);
1111
1124typedef int (*can_mcan_write_mram_t)(const struct device *dev, uint16_t offset, const void *src,
1125 size_t len);
1126
1140typedef int (*can_mcan_clear_mram_t)(const struct device *dev, uint16_t offset, size_t len);
1141
1152
1160
1168
1180
1197#define CAN_MCAN_CALLBACKS_DEFINE(_name, _tx, _std, _ext) \
1198 static struct can_mcan_tx_callback _name##_tx_cbs[_tx]; \
1199 static struct can_mcan_rx_callback _name##_std_cbs[_std]; \
1200 static struct can_mcan_rx_callback _name##_ext_cbs[_ext]; \
1201 static const struct can_mcan_callbacks _name = { \
1202 .tx = _name##_tx_cbs, \
1203 .std = _name##_std_cbs, \
1204 .ext = _name##_ext_cbs, \
1205 .num_tx = _tx, \
1206 .num_std = _std, \
1207 .num_ext = _ext, \
1208 }
1209
1216#define CAN_MCAN_DT_CALLBACKS_DEFINE(node_id, _name) \
1217 CAN_MCAN_CALLBACKS_DEFINE(_name, CAN_MCAN_DT_MRAM_TX_BUFFER_ELEMENTS(node_id), \
1218 CAN_MCAN_DT_MRAM_STD_FILTER_ELEMENTS(node_id), \
1219 CAN_MCAN_DT_MRAM_EXT_FILTER_ELEMENTS(node_id))
1220
1227#define CAN_MCAN_DT_INST_CALLBACKS_DEFINE(inst, _name) \
1228 CAN_MCAN_DT_CALLBACKS_DEFINE(DT_DRV_INST(inst), _name)
1229
1242
1251#define CAN_MCAN_DT_MRAM_ELEMENTS_GET(node_id) \
1252 { \
1253 0, /* offset cell */ \
1254 CAN_MCAN_DT_MRAM_STD_FILTER_ELEMENTS(node_id), \
1255 CAN_MCAN_DT_MRAM_EXT_FILTER_ELEMENTS(node_id), \
1256 CAN_MCAN_DT_MRAM_RX_FIFO0_ELEMENTS(node_id), \
1257 CAN_MCAN_DT_MRAM_RX_FIFO1_ELEMENTS(node_id), \
1258 CAN_MCAN_DT_MRAM_RX_BUFFER_ELEMENTS(node_id), \
1259 CAN_MCAN_DT_MRAM_TX_EVENT_FIFO_ELEMENTS(node_id), \
1260 CAN_MCAN_DT_MRAM_TX_BUFFER_ELEMENTS(node_id) \
1261 }
1262
1271#define CAN_MCAN_DT_MRAM_OFFSETS_GET(node_id) \
1272 { \
1273 0, /* offset cell */ \
1274 CAN_MCAN_DT_MRAM_STD_FILTER_OFFSET(node_id), \
1275 CAN_MCAN_DT_MRAM_EXT_FILTER_OFFSET(node_id), \
1276 CAN_MCAN_DT_MRAM_RX_FIFO0_OFFSET(node_id), \
1277 CAN_MCAN_DT_MRAM_RX_FIFO1_OFFSET(node_id), \
1278 CAN_MCAN_DT_MRAM_RX_BUFFER_OFFSET(node_id), \
1279 CAN_MCAN_DT_MRAM_TX_EVENT_FIFO_OFFSET(node_id), \
1280 CAN_MCAN_DT_MRAM_TX_BUFFER_OFFSET(node_id) \
1281 }
1282
1291#ifdef CONFIG_CAN_FD_MODE
1292#define CAN_MCAN_DT_CONFIG_GET(node_id, _custom, _ops, _cbs) \
1293 { \
1294 .common = CAN_DT_DRIVER_CONFIG_GET(node_id, 0, 8000000), \
1295 .ops = _ops, \
1296 .callbacks = _cbs, \
1297 .mram_elements = CAN_MCAN_DT_MRAM_ELEMENTS_GET(node_id), \
1298 .mram_offsets = CAN_MCAN_DT_MRAM_OFFSETS_GET(node_id), \
1299 .mram_size = CAN_MCAN_DT_MRAM_ELEMENTS_SIZE(node_id), \
1300 .custom = _custom, \
1301 }
1302#else /* CONFIG_CAN_FD_MODE */
1303#define CAN_MCAN_DT_CONFIG_GET(node_id, _custom, _ops, _cbs) \
1304 { \
1305 .common = CAN_DT_DRIVER_CONFIG_GET(node_id, 0, 1000000), \
1306 .ops = _ops, \
1307 .callbacks = _cbs, \
1308 .mram_elements = CAN_MCAN_DT_MRAM_ELEMENTS_GET(node_id), \
1309 .mram_offsets = CAN_MCAN_DT_MRAM_OFFSETS_GET(node_id), \
1310 .mram_size = CAN_MCAN_DT_MRAM_ELEMENTS_SIZE(node_id), \
1311 .custom = _custom, \
1312 }
1313#endif /* !CONFIG_CAN_FD_MODE */
1314
1324#define CAN_MCAN_DT_CONFIG_INST_GET(inst, _custom, _ops, _cbs) \
1325 CAN_MCAN_DT_CONFIG_GET(DT_DRV_INST(inst), _custom, _ops, _cbs)
1326
1331#define CAN_MCAN_DATA_INITIALIZER(_custom) \
1332 { \
1333 .custom = _custom, \
1334 }
1335
1345static inline int can_mcan_sys_read_reg(mm_reg_t base, uint16_t reg, uint32_t *val)
1346{
1347 *val = sys_read32(base + reg);
1348
1349 return 0;
1350}
1351
1361static inline int can_mcan_sys_write_reg(mm_reg_t base, uint16_t reg, uint32_t val)
1362{
1363 sys_write32(val, base + reg);
1364
1365 return 0;
1366}
1367
1381static inline int can_mcan_sys_read_mram(mem_addr_t base, uint16_t offset, void *dst, size_t len)
1382{
1383 volatile uint32_t *src32 = (volatile uint32_t *)(base + offset);
1384 uint32_t *dst32 = (uint32_t *)dst;
1385 size_t len32 = len / sizeof(uint32_t);
1386
1387 __ASSERT(base % 4U == 0U, "base must be a multiple of 4");
1388 __ASSERT(offset % 4U == 0U, "offset must be a multiple of 4");
1389 __ASSERT(POINTER_TO_UINT(dst) % 4U == 0U, "dst must be 32-bit aligned");
1390 __ASSERT(len % 4U == 0U, "len must be a multiple of 4");
1391
1392#if defined(CONFIG_CACHE_MANAGEMENT) && defined(CONFIG_DCACHE)
1393 int err;
1394
1395 err = sys_cache_data_invd_range((void *)(base + offset), len);
1396 if (err != 0) {
1397 return err;
1398 }
1399#endif /* !defined(CONFIG_CACHE_MANAGEMENT) && defined(CONFIG_DCACHE) */
1400
1401 while (len32-- > 0) {
1402 *dst32++ = *src32++;
1403 }
1404
1405 return 0;
1406}
1407
1421static inline int can_mcan_sys_write_mram(mem_addr_t base, uint16_t offset, const void *src,
1422 size_t len)
1423{
1424 volatile uint32_t *dst32 = (volatile uint32_t *)(base + offset);
1425 const uint32_t *src32 = (const uint32_t *)src;
1426 size_t len32 = len / sizeof(uint32_t);
1427
1428 __ASSERT(base % 4U == 0U, "base must be a multiple of 4");
1429 __ASSERT(offset % 4U == 0U, "offset must be a multiple of 4");
1430 __ASSERT(POINTER_TO_UINT(src) % 4U == 0U, "src must be 32-bit aligned");
1431 __ASSERT(len % 4U == 0U, "len must be a multiple of 4");
1432
1433 while (len32-- > 0) {
1434 *dst32++ = *src32++;
1435 }
1436
1437#if defined(CONFIG_CACHE_MANAGEMENT) && defined(CONFIG_DCACHE)
1438 return sys_cache_data_flush_range((void *)(base + offset), len);
1439#else /* defined(CONFIG_CACHE_MANAGEMENT) && defined(CONFIG_DCACHE) */
1440 return 0;
1441#endif /* !defined(CONFIG_CACHE_MANAGEMENT) && defined(CONFIG_DCACHE) */
1442}
1443
1458static inline int can_mcan_sys_clear_mram(mem_addr_t base, uint16_t offset, size_t len)
1459{
1460 volatile uint32_t *dst32 = (volatile uint32_t *)(base + offset);
1461 size_t len32 = len / sizeof(uint32_t);
1462
1463 __ASSERT(base % 4U == 0U, "base must be a multiple of 4");
1464 __ASSERT(offset % 4U == 0U, "offset must be a multiple of 4");
1465 __ASSERT(len % 4U == 0U, "len must be a multiple of 4");
1466
1467 while (len32-- > 0) {
1468 *dst32++ = 0U;
1469 }
1470
1471#if defined(CONFIG_CACHE_MANAGEMENT) && defined(CONFIG_DCACHE)
1472 return sys_cache_data_flush_range((void *)(base + offset), len);
1473#else /* defined(CONFIG_CACHE_MANAGEMENT) && defined(CONFIG_DCACHE) */
1474 return 0;
1475#endif /* !defined(CONFIG_CACHE_MANAGEMENT) && defined(CONFIG_DCACHE) */
1476}
1477
1489int can_mcan_read_reg(const struct device *dev, uint16_t reg, uint32_t *val);
1490
1502int can_mcan_write_reg(const struct device *dev, uint16_t reg, uint32_t val);
1503
1516static inline int can_mcan_read_mram(const struct device *dev, uint16_t offset, void *dst,
1517 size_t len)
1518{
1519 const struct can_mcan_config *config = dev->config;
1520
1521 return config->ops->read_mram(dev, offset, dst, len);
1522}
1523
1536static inline int can_mcan_write_mram(const struct device *dev, uint16_t offset, const void *src,
1537 size_t len)
1538{
1539 const struct can_mcan_config *config = dev->config;
1540
1541 return config->ops->write_mram(dev, offset, src, len);
1542}
1543
1557static inline int can_mcan_clear_mram(const struct device *dev, uint16_t offset, size_t len)
1558{
1559 const struct can_mcan_config *config = dev->config;
1560
1561 return config->ops->clear_mram(dev, offset, len);
1562}
1563
1586int can_mcan_configure_mram(const struct device *dev, uintptr_t mrba, uintptr_t mram);
1587
1593int can_mcan_init(const struct device *dev);
1594
1600void can_mcan_line_0_isr(const struct device *dev);
1601
1607void can_mcan_line_1_isr(const struct device *dev);
1608
1615
1620int can_mcan_get_capabilities(const struct device *dev, can_mode_t *cap);
1621
1626int can_mcan_start(const struct device *dev);
1627
1632int can_mcan_stop(const struct device *dev);
1633
1638int can_mcan_set_mode(const struct device *dev, can_mode_t mode);
1639
1644int can_mcan_set_timing(const struct device *dev, const struct can_timing *timing);
1645
1650int can_mcan_set_timing_data(const struct device *dev, const struct can_timing *timing_data);
1651
1652#ifdef CONFIG_CAN_MANUAL_RECOVERY_MODE
1657int can_mcan_recover(const struct device *dev, k_timeout_t timeout);
1658#endif /* CONFIG_CAN_MANUAL_RECOVERY_MODE */
1659
1660int can_mcan_send(const struct device *dev, const struct can_frame *frame, k_timeout_t timeout,
1661 can_tx_callback_t callback, void *user_data);
1662
1663int can_mcan_get_max_filters(const struct device *dev, bool ide);
1664
1669int can_mcan_add_rx_filter(const struct device *dev, can_rx_callback_t callback, void *user_data,
1670 const struct can_filter *filter);
1671
1676void can_mcan_remove_rx_filter(const struct device *dev, int filter_id);
1677
1682int can_mcan_get_state(const struct device *dev, enum can_state *state,
1683 struct can_bus_err_cnt *err_cnt);
1684
1690 can_state_change_callback_t callback, void *user_data);
1691
1692#endif /* ZEPHYR_INCLUDE_DRIVERS_CAN_CAN_MCAN_H_ */
cache API interface
void can_mcan_line_0_isr(const struct device *dev)
Bosch M_CAN driver m_can_int0 IRQ handler.
int can_mcan_read_reg(const struct device *dev, uint16_t reg, uint32_t *val)
Read a Bosch M_CAN register.
int can_mcan_set_mode(const struct device *dev, can_mode_t mode)
Bosch M_CAN driver callback API upon setting CAN controller mode See can_set_mode() for argument desc...
static int can_mcan_read_mram(const struct device *dev, uint16_t offset, void *dst, size_t len)
Read from Bosch M_CAN Message RAM.
Definition can_mcan.h:1516
int can_mcan_set_timing_data(const struct device *dev, const struct can_timing *timing_data)
Bosch M_CAN driver callback API upon setting CAN bus data phase timing See can_set_timing_data() for ...
static int can_mcan_sys_read_reg(mm_reg_t base, uint16_t reg, uint32_t *val)
Bosch M_CAN driver front-end callback helper for reading a memory mapped register.
Definition can_mcan.h:1345
static int can_mcan_sys_write_mram(mem_addr_t base, uint16_t offset, const void *src, size_t len)
Bosch M_CAN driver front-end callback helper for writing to memory mapped Message RAM.
Definition can_mcan.h:1421
int can_mcan_configure_mram(const struct device *dev, uintptr_t mrba, uintptr_t mram)
Configure Bosch M_MCAN Message RAM start addresses.
int(* can_mcan_clear_mram_t)(const struct device *dev, uint16_t offset, size_t len)
Bosch M_CAN driver front-end callback for clearing Message RAM.
Definition can_mcan.h:1140
void can_mcan_set_state_change_callback(const struct device *dev, can_state_change_callback_t callback, void *user_data)
Bosch M_CAN driver callback API upon setting a state change callback See can_set_state_change_callbac...
int can_mcan_set_timing(const struct device *dev, const struct can_timing *timing)
Bosch M_CAN driver callback API upon setting CAN bus timing See can_set_timing() for argument descrip...
int can_mcan_write_reg(const struct device *dev, uint16_t reg, uint32_t val)
Write a Bosch M_CAN register.
int can_mcan_get_state(const struct device *dev, enum can_state *state, struct can_bus_err_cnt *err_cnt)
Bosch M_CAN driver callback API upon getting the CAN controller state See can_get_state() for argumen...
void can_mcan_line_1_isr(const struct device *dev)
Bosch M_CAN driver m_can_int1 IRQ handler.
int can_mcan_stop(const struct device *dev)
Bosch M_CAN driver callback API upon stopping CAN controller See can_stop() for argument description.
void can_mcan_enable_configuration_change(const struct device *dev)
Enable Bosch M_CAN configuration change.
static int can_mcan_sys_read_mram(mem_addr_t base, uint16_t offset, void *dst, size_t len)
Bosch M_CAN driver front-end callback helper for reading from memory mapped Message RAM.
Definition can_mcan.h:1381
static int can_mcan_sys_clear_mram(mem_addr_t base, uint16_t offset, size_t len)
Bosch M_CAN driver front-end callback helper for clearing memory mapped Message RAM.
Definition can_mcan.h:1458
int can_mcan_add_rx_filter(const struct device *dev, can_rx_callback_t callback, void *user_data, const struct can_filter *filter)
Bosch M_CAN driver callback API upon adding an RX filter See can_add_rx_callback() for argument descr...
int(* can_mcan_read_reg_t)(const struct device *dev, uint16_t reg, uint32_t *val)
Bosch M_CAN driver front-end callback for reading a register value.
Definition can_mcan.h:1082
int can_mcan_init(const struct device *dev)
Bosch M_CAN driver initialization callback.
can_mcan_psr_lec
Definition can_mcan.h:130
@ CAN_MCAN_PSR_LEC_STUFF_ERROR
Definition can_mcan.h:132
@ CAN_MCAN_PSR_LEC_BIT0_ERROR
Definition can_mcan.h:136
@ CAN_MCAN_PSR_LEC_NO_CHANGE
Definition can_mcan.h:138
@ CAN_MCAN_PSR_LEC_CRC_ERROR
Definition can_mcan.h:137
@ CAN_MCAN_PSR_LEC_BIT1_ERROR
Definition can_mcan.h:135
@ CAN_MCAN_PSR_LEC_ACK_ERROR
Definition can_mcan.h:134
@ CAN_MCAN_PSR_LEC_FORM_ERROR
Definition can_mcan.h:133
@ CAN_MCAN_PSR_LEC_NO_ERROR
Definition can_mcan.h:131
int can_mcan_send(const struct device *dev, const struct can_frame *frame, k_timeout_t timeout, can_tx_callback_t callback, void *user_data)
int(* can_mcan_read_mram_t)(const struct device *dev, uint16_t offset, void *dst, size_t len)
Bosch M_CAN driver front-end callback for reading from Message RAM.
Definition can_mcan.h:1109
static int can_mcan_clear_mram(const struct device *dev, uint16_t offset, size_t len)
Clear Bosch M_CAN Message RAM.
Definition can_mcan.h:1557
int(* can_mcan_write_mram_t)(const struct device *dev, uint16_t offset, const void *src, size_t len)
Bosch M_CAN driver front-end callback for writing to Message RAM.
Definition can_mcan.h:1124
#define CAN_MCAN_MRAM_CFG_NUM_CELLS
Total number of cells in bosch,mram-cfg property.
Definition can_mcan.h:423
int can_mcan_get_capabilities(const struct device *dev, can_mode_t *cap)
Bosch M_CAN driver callback API upon getting CAN controller capabilities See can_get_capabilities() f...
int can_mcan_start(const struct device *dev)
Bosch M_CAN driver callback API upon starting CAN controller See can_start() for argument description...
static int can_mcan_sys_write_reg(mm_reg_t base, uint16_t reg, uint32_t val)
Bosch M_CAN driver front-end callback helper for writing a memory mapped register.
Definition can_mcan.h:1361
int can_mcan_get_max_filters(const struct device *dev, bool ide)
int(* can_mcan_write_reg_t)(const struct device *dev, uint16_t reg, uint32_t val)
Bosch M_CAN driver front-end callback for writing a register value.
Definition can_mcan.h:1095
static int can_mcan_write_mram(const struct device *dev, uint16_t offset, const void *src, size_t len)
Write to Bosch M_CAN Message RAM.
Definition can_mcan.h:1536
void can_mcan_remove_rx_filter(const struct device *dev, int filter_id)
Bosch M_CAN driver callback API upon removing an RX filter See can_remove_rx_filter() for argument de...
Devicetree main header.
Controller Area Network (CAN) driver API.
int sys_cache_data_invd_range(void *addr, size_t size)
Invalidate an address range in the d-cache.
int sys_cache_data_flush_range(void *addr, size_t size)
Flush an address range in the d-cache.
void(* can_state_change_callback_t)(const struct device *dev, enum can_state state, struct can_bus_err_cnt err_cnt, void *user_data)
Defines the state change callback handler function signature.
Definition can.h:312
uint32_t can_mode_t
Provides a type to hold CAN controller configuration flags.
Definition can.h:125
void(* can_rx_callback_t)(const struct device *dev, struct can_frame *frame, void *user_data)
Defines the application callback handler function signature for receiving.
Definition can.h:301
void(* can_tx_callback_t)(const struct device *dev, int error, void *user_data)
Defines the application callback handler function signature.
Definition can.h:292
can_state
Defines the state of the CAN controller.
Definition can.h:130
#define POINTER_TO_UINT(x)
Cast x, a pointer, to an unsigned integer.
Definition util.h:48
Public kernel APIs.
state
Definition parser_state.h:29
__UINT32_TYPE__ uint32_t
Definition stdint.h:90
__UINT8_TYPE__ uint8_t
Definition stdint.h:88
__UINTPTR_TYPE__ uintptr_t
Definition stdint.h:105
__UINT16_TYPE__ uint16_t
Definition stdint.h:89
CAN controller error counters.
Definition can.h:232
CAN filter structure.
Definition can.h:218
CAN frame structure.
Definition can.h:172
Bosch M_CAN driver internal Tx + Rx callbacks structure.
Definition can_mcan.h:1172
uint8_t num_std
Definition can_mcan.h:1177
uint8_t num_ext
Definition can_mcan.h:1178
uint8_t num_tx
Definition can_mcan.h:1176
struct can_mcan_rx_callback * ext
Definition can_mcan.h:1175
struct can_mcan_tx_callback * tx
Definition can_mcan.h:1173
struct can_mcan_rx_callback * std
Definition can_mcan.h:1174
Bosch M_CAN driver internal configuration structure.
Definition can_mcan.h:1233
const struct can_mcan_callbacks * callbacks
Definition can_mcan.h:1236
size_t mram_size
Definition can_mcan.h:1239
uint16_t mram_offsets[8]
Definition can_mcan.h:1238
const void * custom
Definition can_mcan.h:1240
const struct can_driver_config common
Definition can_mcan.h:1234
uint16_t mram_elements[8]
Definition can_mcan.h:1237
const struct can_mcan_ops * ops
Definition can_mcan.h:1235
Bosch M_CAN driver internal data structure.
Definition can_mcan.h:1063
struct k_mutex lock
Definition can_mcan.h:1065
void * custom
Definition can_mcan.h:1068
struct can_driver_data common
Definition can_mcan.h:1064
struct k_mutex tx_mtx
Definition can_mcan.h:1067
struct k_sem tx_sem
Definition can_mcan.h:1066
Bosch M_CAN Extended Message ID Filter Element.
Definition can_mcan.h:1052
uint32_t efid2
Definition can_mcan.h:1055
uint32_t esync
Definition can_mcan.h:1056
uint32_t efid1
Definition can_mcan.h:1053
uint32_t efec
Definition can_mcan.h:1054
uint32_t eft
Definition can_mcan.h:1057
Bosch M_CAN driver front-end operations.
Definition can_mcan.h:1145
can_mcan_read_reg_t read_reg
Definition can_mcan.h:1146
can_mcan_write_reg_t write_reg
Definition can_mcan.h:1147
can_mcan_write_mram_t write_mram
Definition can_mcan.h:1149
can_mcan_clear_mram_t clear_mram
Definition can_mcan.h:1150
can_mcan_read_mram_t read_mram
Definition can_mcan.h:1148
Bosch M_CAN driver internal Rx callback structure.
Definition can_mcan.h:1164
void * user_data
Definition can_mcan.h:1166
can_rx_callback_t function
Definition can_mcan.h:1165
Bosch M_CAN Rx Buffer and FIFO Element header.
Definition can_mcan.h:909
uint32_t pad2
Definition can_mcan.h:920
uint32_t res
Definition can_mcan.h:927
uint32_t brs
Definition can_mcan.h:925
uint32_t dlc
Definition can_mcan.h:924
uint32_t anmf
Definition can_mcan.h:929
uint32_t esi
Definition can_mcan.h:915
uint32_t fdf
Definition can_mcan.h:926
uint32_t rtr
Definition can_mcan.h:913
uint32_t xtd
Definition can_mcan.h:914
uint32_t std_id
Definition can_mcan.h:919
uint32_t ext_id
Definition can_mcan.h:912
uint32_t rxts
Definition can_mcan.h:923
uint32_t fidx
Definition can_mcan.h:928
uint32_t pad1
Definition can_mcan.h:918
Bosch M_CAN Rx Buffer and FIFO Element.
Definition can_mcan.h:937
struct can_mcan_rx_fifo_hdr hdr
Definition can_mcan.h:938
Bosch M_CAN Standard Message ID Filter Element.
Definition can_mcan.h:1033
uint32_t sfid2
Definition can_mcan.h:1034
uint32_t sfid1
Definition can_mcan.h:1036
uint32_t sfec
Definition can_mcan.h:1037
uint32_t res
Definition can_mcan.h:1035
uint32_t sft
Definition can_mcan.h:1038
Bosch M_CAN Tx Buffer Element header.
Definition can_mcan.h:950
uint8_t tsce
Definition can_mcan.h:968
uint32_t xtd
Definition can_mcan.h:955
uint16_t res1
Definition can_mcan.h:964
uint32_t rtr
Definition can_mcan.h:954
uint8_t efc
Definition can_mcan.h:969
uint8_t fdf
Definition can_mcan.h:967
uint32_t std_id
Definition can_mcan.h:960
uint8_t dlc
Definition can_mcan.h:965
uint32_t pad2
Definition can_mcan.h:961
uint32_t ext_id
Definition can_mcan.h:953
uint8_t mm
Definition can_mcan.h:970
uint32_t pad1
Definition can_mcan.h:959
uint32_t esi
Definition can_mcan.h:956
uint8_t brs
Definition can_mcan.h:966
Bosch M_CAN Tx Buffer Element.
Definition can_mcan.h:978
struct can_mcan_tx_buffer_hdr hdr
Definition can_mcan.h:979
Bosch M_CAN driver internal Tx callback structure.
Definition can_mcan.h:1156
void * user_data
Definition can_mcan.h:1158
can_tx_callback_t function
Definition can_mcan.h:1157
Bosch M_CAN Tx Event FIFO Element.
Definition can_mcan.h:991
uint32_t rtr
Definition can_mcan.h:995
uint8_t et
Definition can_mcan.h:1009
uint32_t ext_id
Definition can_mcan.h:994
uint8_t fdf
Definition can_mcan.h:1008
uint32_t pad2
Definition can_mcan.h:1002
uint8_t mm
Definition can_mcan.h:1010
uint32_t pad1
Definition can_mcan.h:1000
uint32_t std_id
Definition can_mcan.h:1001
uint32_t esi
Definition can_mcan.h:997
uint8_t dlc
Definition can_mcan.h:1006
uint32_t xtd
Definition can_mcan.h:996
uint16_t txts
Definition can_mcan.h:1005
uint8_t brs
Definition can_mcan.h:1007
CAN bus timing structure.
Definition can.h:271
Runtime device structure (in ROM) per driver instance.
Definition device.h:412
const void * config
Address of device instance config information.
Definition device.h:416
Mutex Structure.
Definition kernel.h:2994
Kernel timeout type.
Definition sys_clock.h:65
static ALWAYS_INLINE void sys_write32(uint32_t data, mem_addr_t addr)
Definition sys-io-common.h:70
static ALWAYS_INLINE uint32_t sys_read32(mem_addr_t addr)
Definition sys-io-common.h:59
uintptr_t mm_reg_t
Definition sys_io.h:20
uintptr_t mem_addr_t
Definition sys_io.h:21
Misc utilities.