can.h

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/*
 * Copyright (c) 2021 Vestas Wind Systems A/S
 * Copyright (c) 2018 Karsten Koenig
 * Copyright (c) 2018 Alexander Wachter
 *
 * SPDX-License-Identifier: Apache-2.0
 */

 
#ifndef ZEPHYR_INCLUDE_DRIVERS_CAN_H_
#define ZEPHYR_INCLUDE_DRIVERS_CAN_H_
 
#include <errno.h>
 
#include <zephyr/types.h>
#include <zephyr/device.h>
#include <zephyr/kernel.h>
#include <string.h>
#include <zephyr/sys_clock.h>
#include <zephyr/sys/util.h>
 
#ifdef __cplusplus
extern "C" {
#endif



#define CAN_STD_ID_MASK 0x7FFU

#define CAN_EXT_ID_MASK 0x1FFFFFFFU

#define CAN_MAX_DLC     8U

#define CANFD_MAX_DLC   15U

#ifndef CONFIG_CAN_FD_MODE
#define CAN_MAX_DLEN    8U
#else
#define CAN_MAX_DLEN    64U
#endif /* CONFIG_CAN_FD_MODE */




#define CAN_MODE_NORMAL     0

#define CAN_MODE_LOOPBACK        BIT(0)

#define CAN_MODE_LISTENONLY      BIT(1)

#define CAN_MODE_FD              BIT(2)

#define CAN_MODE_ONE_SHOT        BIT(3)

#define CAN_MODE_3_SAMPLES       BIT(4)

#define CAN_MODE_MANUAL_RECOVERY BIT(5)


typedef uint32_t can_mode_t;

enum can_state {
        CAN_STATE_ERROR_ACTIVE,
        CAN_STATE_ERROR_WARNING,
        CAN_STATE_ERROR_PASSIVE,
        CAN_STATE_BUS_OFF,
        CAN_STATE_STOPPED,
};


#define CAN_FRAME_IDE BIT(0)

#define CAN_FRAME_RTR BIT(1)

#define CAN_FRAME_FDF BIT(2)

#define CAN_FRAME_BRS BIT(3)

#define CAN_FRAME_ESI BIT(4)


struct can_frame {
        uint32_t id;
        uint8_t dlc;
        uint8_t flags;
#if defined(CONFIG_CAN_RX_TIMESTAMP) || defined(__DOXYGEN__)
        uint16_t timestamp;
#else
        uint16_t reserved;
#endif
        union {
                uint8_t data[CAN_MAX_DLEN];
                uint32_t data_32[DIV_ROUND_UP(CAN_MAX_DLEN, sizeof(uint32_t))];
        };
};


#define CAN_FILTER_IDE  BIT(0)


struct can_filter {
        uint32_t id;
        uint32_t mask;
        uint8_t flags;
};

struct can_bus_err_cnt {
        uint8_t tx_err_cnt;
        uint8_t rx_err_cnt;
};

struct can_timing {
        uint16_t sjw;
        uint16_t prop_seg;
        uint16_t phase_seg1;
        uint16_t phase_seg2;
        uint16_t prescaler;
};

typedef void (*can_tx_callback_t)(const struct device *dev, int error, void *user_data);

typedef void (*can_rx_callback_t)(const struct device *dev, struct can_frame *frame,
                                  void *user_data);

typedef void (*can_state_change_callback_t)(const struct device *dev,
                                            enum can_state state,
                                            struct can_bus_err_cnt err_cnt,
                                            void *user_data);


#define CAN_CALC_TDCO(_timing_data, _tdco_min, _tdco_max)                                          \
        CLAMP((1U + _timing_data->prop_seg + _timing_data->phase_seg1) * _timing_data->prescaler,  \
              _tdco_min, _tdco_max)

struct can_driver_config {
        const struct device *phy;
        uint32_t min_bitrate;
        uint32_t max_bitrate;
        uint32_t bitrate;
        uint16_t sample_point;
#ifdef CONFIG_CAN_FD_MODE
        uint16_t sample_point_data;
        uint32_t bitrate_data;
#endif /* CONFIG_CAN_FD_MODE */
};

#define CAN_DT_DRIVER_CONFIG_GET(node_id, _min_bitrate, _max_bitrate)                           \
        {                                                                                       \
                .phy = DEVICE_DT_GET_OR_NULL(DT_PHANDLE(node_id, phys)),                        \
                .min_bitrate = DT_CAN_TRANSCEIVER_MIN_BITRATE(node_id, _min_bitrate),           \
                .max_bitrate = DT_CAN_TRANSCEIVER_MAX_BITRATE(node_id, _max_bitrate),           \
                .bitrate = DT_PROP_OR(node_id, bitrate,                                         \
                        DT_PROP_OR(node_id, bus_speed, CONFIG_CAN_DEFAULT_BITRATE)),            \
                .sample_point = DT_PROP_OR(node_id, sample_point, 0),                           \
                IF_ENABLED(CONFIG_CAN_FD_MODE,                                                  \
                        (.bitrate_data = DT_PROP_OR(node_id, bitrate_data,                      \
                         DT_PROP_OR(node_id, bus_speed_data, CONFIG_CAN_DEFAULT_BITRATE_DATA)), \
                         .sample_point_data = DT_PROP_OR(node_id, sample_point_data, 0),))      \
        }

#define CAN_DT_DRIVER_CONFIG_INST_GET(inst, _min_bitrate, _max_bitrate)                         \
        CAN_DT_DRIVER_CONFIG_GET(DT_DRV_INST(inst), _min_bitrate, _max_bitrate)

struct can_driver_data {
        can_mode_t mode;
        bool started;
        can_state_change_callback_t state_change_cb;
        void *state_change_cb_user_data;
};

typedef int (*can_set_timing_t)(const struct device *dev,
                                const struct can_timing *timing);

typedef int (*can_set_timing_data_t)(const struct device *dev,
                                     const struct can_timing *timing_data);

typedef int (*can_get_capabilities_t)(const struct device *dev, can_mode_t *cap);

typedef int (*can_start_t)(const struct device *dev);

typedef int (*can_stop_t)(const struct device *dev);

typedef int (*can_set_mode_t)(const struct device *dev, can_mode_t mode);

typedef int (*can_send_t)(const struct device *dev,
                          const struct can_frame *frame,
                          k_timeout_t timeout, can_tx_callback_t callback,
                          void *user_data);

typedef int (*can_add_rx_filter_t)(const struct device *dev,
                                   can_rx_callback_t callback,
                                   void *user_data,
                                   const struct can_filter *filter);

typedef void (*can_remove_rx_filter_t)(const struct device *dev, int filter_id);

typedef int (*can_recover_t)(const struct device *dev, k_timeout_t timeout);

typedef int (*can_get_state_t)(const struct device *dev, enum can_state *state,
                               struct can_bus_err_cnt *err_cnt);

typedef void(*can_set_state_change_callback_t)(const struct device *dev,
                                               can_state_change_callback_t callback,
                                               void *user_data);

typedef int (*can_get_core_clock_t)(const struct device *dev, uint32_t *rate);

typedef int (*can_get_max_filters_t)(const struct device *dev, bool ide);

__subsystem struct can_driver_api {
        can_get_capabilities_t get_capabilities;
        can_start_t start;
        can_stop_t stop;
        can_set_mode_t set_mode;
        can_set_timing_t set_timing;
        can_send_t send;
        can_add_rx_filter_t add_rx_filter;
        can_remove_rx_filter_t remove_rx_filter;
#if defined(CONFIG_CAN_MANUAL_RECOVERY_MODE) || defined(__DOXYGEN__)
        can_recover_t recover;
#endif /* CONFIG_CAN_MANUAL_RECOVERY_MODE */
        can_get_state_t get_state;
        can_set_state_change_callback_t set_state_change_callback;
        can_get_core_clock_t get_core_clock;
        can_get_max_filters_t get_max_filters;
        struct can_timing timing_min;
        struct can_timing timing_max;
#if defined(CONFIG_CAN_FD_MODE) || defined(__DOXYGEN__)
        can_set_timing_data_t set_timing_data;
        struct can_timing timing_data_min;
        struct can_timing timing_data_max;
#endif /* CONFIG_CAN_FD_MODE */
};

 
#if defined(CONFIG_CAN_STATS) || defined(__DOXYGEN__)
 
#include <zephyr/stats/stats.h>

 
STATS_SECT_START(can)
STATS_SECT_ENTRY32(bit_error)
STATS_SECT_ENTRY32(bit0_error)
STATS_SECT_ENTRY32(bit1_error)
STATS_SECT_ENTRY32(stuff_error)
STATS_SECT_ENTRY32(crc_error)
STATS_SECT_ENTRY32(form_error)
STATS_SECT_ENTRY32(ack_error)
STATS_SECT_ENTRY32(rx_overrun)
STATS_SECT_END;
 
STATS_NAME_START(can)
STATS_NAME(can, bit_error)
STATS_NAME(can, bit0_error)
STATS_NAME(can, bit1_error)
STATS_NAME(can, stuff_error)
STATS_NAME(can, crc_error)
STATS_NAME(can, form_error)
STATS_NAME(can, ack_error)
STATS_NAME(can, rx_overrun)
STATS_NAME_END(can);


struct can_device_state {
        struct device_state devstate;
        struct stats_can stats;
};


#define Z_CAN_GET_STATS(dev_)                           \
        CONTAINER_OF(dev_->state, struct can_device_state, devstate)->stats


#define CAN_STATS_BIT_ERROR_INC(dev_)                  \
        STATS_INC(Z_CAN_GET_STATS(dev_), bit_error)

#define CAN_STATS_BIT0_ERROR_INC(dev_)                          \
        do {                                                    \
                STATS_INC(Z_CAN_GET_STATS(dev_), bit0_error);   \
                CAN_STATS_BIT_ERROR_INC(dev_);                  \
        } while (0)

#define CAN_STATS_BIT1_ERROR_INC(dev_)                          \
        do {                                                    \
                STATS_INC(Z_CAN_GET_STATS(dev_), bit1_error);   \
                CAN_STATS_BIT_ERROR_INC(dev_);                  \
        } while (0)

#define CAN_STATS_STUFF_ERROR_INC(dev_)                 \
        STATS_INC(Z_CAN_GET_STATS(dev_), stuff_error)

#define CAN_STATS_CRC_ERROR_INC(dev_)                   \
        STATS_INC(Z_CAN_GET_STATS(dev_), crc_error)

#define CAN_STATS_FORM_ERROR_INC(dev_)                  \
        STATS_INC(Z_CAN_GET_STATS(dev_), form_error)

#define CAN_STATS_ACK_ERROR_INC(dev_)                   \
        STATS_INC(Z_CAN_GET_STATS(dev_), ack_error)

#define CAN_STATS_RX_OVERRUN_INC(dev_)                  \
        STATS_INC(Z_CAN_GET_STATS(dev_), rx_overrun)

#define CAN_STATS_RESET(dev_)                           \
        stats_reset(&(Z_CAN_GET_STATS(dev_).s_hdr))


#define Z_CAN_DEVICE_STATE_DEFINE(dev_id)                               \
        static struct can_device_state Z_DEVICE_STATE_NAME(dev_id)      \
        __attribute__((__section__(".z_devstate")))

#define Z_CAN_INIT_FN(dev_id, init_fn)                                  \
        static inline int UTIL_CAT(dev_id, _init)(const struct device *dev) \
        {                                                               \
                struct can_device_state *state =                        \
                        CONTAINER_OF(dev->state, struct can_device_state, devstate); \
                stats_init(&state->stats.s_hdr, STATS_SIZE_32, 8,       \
                           STATS_NAME_INIT_PARMS(can));                 \
                stats_register(dev->name, &(state->stats.s_hdr));       \
                if (!is_null_no_warn(init_fn)) {                        \
                        return init_fn(dev);                            \
                }                                                       \
                                                                        \
                return 0;                                               \
        }


#define CAN_DEVICE_DT_DEFINE(node_id, init_fn, pm, data, config, level, \
                             prio, api, ...)                            \
        Z_CAN_DEVICE_STATE_DEFINE(Z_DEVICE_DT_DEV_ID(node_id));         \
        Z_CAN_INIT_FN(Z_DEVICE_DT_DEV_ID(node_id), init_fn)             \
        Z_DEVICE_DEFINE(node_id, Z_DEVICE_DT_DEV_ID(node_id),           \
                        DEVICE_DT_NAME(node_id),                        \
                        &UTIL_CAT(Z_DEVICE_DT_DEV_ID(node_id), _init),  \
                        NULL, Z_DEVICE_DT_FLAGS(node_id), pm, data,     \
                        config, level, prio, api,                       \
                        &(Z_DEVICE_STATE_NAME(Z_DEVICE_DT_DEV_ID(node_id)).devstate), \
                        __VA_ARGS__)
 
#else /* CONFIG_CAN_STATS */
 
#define CAN_STATS_BIT_ERROR_INC(dev_)
#define CAN_STATS_BIT0_ERROR_INC(dev_)
#define CAN_STATS_BIT1_ERROR_INC(dev_)
#define CAN_STATS_STUFF_ERROR_INC(dev_)
#define CAN_STATS_CRC_ERROR_INC(dev_)
#define CAN_STATS_FORM_ERROR_INC(dev_)
#define CAN_STATS_ACK_ERROR_INC(dev_)
#define CAN_STATS_RX_OVERRUN_INC(dev_)
#define CAN_STATS_RESET(dev_)
 
#define CAN_DEVICE_DT_DEFINE(node_id, init_fn, pm, data, config, level, \
                             prio, api, ...)                            \
        DEVICE_DT_DEFINE(node_id, init_fn, pm, data, config, level,     \
                         prio, api, __VA_ARGS__)
 
#endif /* CONFIG_CAN_STATS */

#define CAN_DEVICE_DT_INST_DEFINE(inst, ...)                    \
        CAN_DEVICE_DT_DEFINE(DT_DRV_INST(inst), __VA_ARGS__)


__syscall int can_get_core_clock(const struct device *dev, uint32_t *rate);
 
static inline int z_impl_can_get_core_clock(const struct device *dev, uint32_t *rate)
{
        return DEVICE_API_GET(can, dev)->get_core_clock(dev, rate);
}

__syscall uint32_t can_get_bitrate_min(const struct device *dev);
 
static inline uint32_t z_impl_can_get_bitrate_min(const struct device *dev)
{
        const struct can_driver_config *common = (const struct can_driver_config *)dev->config;
 
        return common->min_bitrate;
}

__syscall uint32_t can_get_bitrate_max(const struct device *dev);
 
static inline uint32_t z_impl_can_get_bitrate_max(const struct device *dev)
{
        const struct can_driver_config *common = (const struct can_driver_config *)dev->config;
 
        return common->max_bitrate;
}

__syscall const struct can_timing *can_get_timing_min(const struct device *dev);
 
static inline const struct can_timing *z_impl_can_get_timing_min(const struct device *dev)
{
        return &DEVICE_API_GET(can, dev)->timing_min;
}

__syscall const struct can_timing *can_get_timing_max(const struct device *dev);
 
static inline const struct can_timing *z_impl_can_get_timing_max(const struct device *dev)
{
        return &DEVICE_API_GET(can, dev)->timing_max;
}

__syscall int can_calc_timing(const struct device *dev, struct can_timing *res,
                              uint32_t bitrate, uint16_t sample_pnt);

__syscall const struct can_timing *can_get_timing_data_min(const struct device *dev);
 
#ifdef CONFIG_CAN_FD_MODE
static inline const struct can_timing *z_impl_can_get_timing_data_min(const struct device *dev)
{
        return &DEVICE_API_GET(can, dev)->timing_data_min;
}
#endif /* CONFIG_CAN_FD_MODE */

__syscall const struct can_timing *can_get_timing_data_max(const struct device *dev);
 
#ifdef CONFIG_CAN_FD_MODE
static inline const struct can_timing *z_impl_can_get_timing_data_max(const struct device *dev)
{
        return &DEVICE_API_GET(can, dev)->timing_data_max;
}
#endif /* CONFIG_CAN_FD_MODE */

__syscall int can_calc_timing_data(const struct device *dev, struct can_timing *res,
                                   uint32_t bitrate, uint16_t sample_pnt);

__syscall int can_set_timing_data(const struct device *dev,
                                  const struct can_timing *timing_data);

__syscall int can_set_bitrate_data(const struct device *dev, uint32_t bitrate_data);

__syscall int can_set_timing(const struct device *dev,
                             const struct can_timing *timing);

__syscall int can_get_capabilities(const struct device *dev, can_mode_t *cap);
 
static inline int z_impl_can_get_capabilities(const struct device *dev, can_mode_t *cap)
{
        return DEVICE_API_GET(can, dev)->get_capabilities(dev, cap);
}

__syscall const struct device *can_get_transceiver(const struct device *dev);
 
static const struct device *z_impl_can_get_transceiver(const struct device *dev)
{
        const struct can_driver_config *common = (const struct can_driver_config *)dev->config;
 
        return common->phy;
}

__syscall int can_start(const struct device *dev);
 
static inline int z_impl_can_start(const struct device *dev)
{
        return DEVICE_API_GET(can, dev)->start(dev);
}

__syscall int can_stop(const struct device *dev);
 
static inline int z_impl_can_stop(const struct device *dev)
{
        return DEVICE_API_GET(can, dev)->stop(dev);
}

__syscall int can_set_mode(const struct device *dev, can_mode_t mode);
 
static inline int z_impl_can_set_mode(const struct device *dev, can_mode_t mode)
{
        return DEVICE_API_GET(can, dev)->set_mode(dev, mode);
}

__syscall can_mode_t can_get_mode(const struct device *dev);
 
static inline can_mode_t z_impl_can_get_mode(const struct device *dev)
{
        const struct can_driver_data *common = (const struct can_driver_data *)dev->data;
 
        return common->mode;
}

__syscall int can_set_bitrate(const struct device *dev, uint32_t bitrate);



__syscall int can_send(const struct device *dev, const struct can_frame *frame,
                       k_timeout_t timeout, can_tx_callback_t callback,
                       void *user_data);



int can_add_rx_filter(const struct device *dev, can_rx_callback_t callback,
                      void *user_data, const struct can_filter *filter);

#define CAN_MSGQ_DEFINE(name, max_frames) \
        K_MSGQ_DEFINE(name, sizeof(struct can_frame), max_frames, 4)

__syscall int can_add_rx_filter_msgq(const struct device *dev, struct k_msgq *msgq,
                                     const struct can_filter *filter);

__syscall void can_remove_rx_filter(const struct device *dev, int filter_id);
 
static inline void z_impl_can_remove_rx_filter(const struct device *dev, int filter_id)
{
        DEVICE_API_GET(can, dev)->remove_rx_filter(dev, filter_id);
}

__syscall int can_get_max_filters(const struct device *dev, bool ide);
 
static inline int z_impl_can_get_max_filters(const struct device *dev, bool ide)
{
        const struct can_driver_api *api = DEVICE_API_GET(can, dev);
 
        if (api->get_max_filters == NULL) {
                return -ENOSYS;
        }
 
        return api->get_max_filters(dev, ide);
}



__syscall int can_get_state(const struct device *dev, enum can_state *state,
                            struct can_bus_err_cnt *err_cnt);
 
static inline int z_impl_can_get_state(const struct device *dev, enum can_state *state,
                                       struct can_bus_err_cnt *err_cnt)
{
        return DEVICE_API_GET(can, dev)->get_state(dev, state, err_cnt);
}

__syscall int can_recover(const struct device *dev, k_timeout_t timeout);
 
#ifdef CONFIG_CAN_MANUAL_RECOVERY_MODE
static inline int z_impl_can_recover(const struct device *dev, k_timeout_t timeout)
{
        const struct can_driver_api *api = DEVICE_API_GET(can, dev);
 
        if (api->recover == NULL) {
                return -ENOSYS;
        }
 
        return api->recover(dev, timeout);
}
#endif /* CONFIG_CAN_MANUAL_RECOVERY_MODE */

static inline void can_set_state_change_callback(const struct device *dev,
                                                 can_state_change_callback_t callback,
                                                 void *user_data)
{
        DEVICE_API_GET(can, dev)->set_state_change_callback(dev, callback, user_data);
}



__syscall uint32_t can_stats_get_bit_errors(const struct device *dev);
 
#ifdef CONFIG_CAN_STATS
static inline uint32_t z_impl_can_stats_get_bit_errors(const struct device *dev)
{
        return Z_CAN_GET_STATS(dev).bit_error;
}
#endif /* CONFIG_CAN_STATS */

__syscall uint32_t can_stats_get_bit0_errors(const struct device *dev);
 
#ifdef CONFIG_CAN_STATS
static inline uint32_t z_impl_can_stats_get_bit0_errors(const struct device *dev)
{
        return Z_CAN_GET_STATS(dev).bit0_error;
}
#endif /* CONFIG_CAN_STATS */

__syscall uint32_t can_stats_get_bit1_errors(const struct device *dev);
 
#ifdef CONFIG_CAN_STATS
static inline uint32_t z_impl_can_stats_get_bit1_errors(const struct device *dev)
{
        return Z_CAN_GET_STATS(dev).bit1_error;
}
#endif /* CONFIG_CAN_STATS */

__syscall uint32_t can_stats_get_stuff_errors(const struct device *dev);
 
#ifdef CONFIG_CAN_STATS
static inline uint32_t z_impl_can_stats_get_stuff_errors(const struct device *dev)
{
        return Z_CAN_GET_STATS(dev).stuff_error;
}
#endif /* CONFIG_CAN_STATS */

__syscall uint32_t can_stats_get_crc_errors(const struct device *dev);
 
#ifdef CONFIG_CAN_STATS
static inline uint32_t z_impl_can_stats_get_crc_errors(const struct device *dev)
{
        return Z_CAN_GET_STATS(dev).crc_error;
}
#endif /* CONFIG_CAN_STATS */

__syscall uint32_t can_stats_get_form_errors(const struct device *dev);
 
#ifdef CONFIG_CAN_STATS
static inline uint32_t z_impl_can_stats_get_form_errors(const struct device *dev)
{
        return Z_CAN_GET_STATS(dev).form_error;
}
#endif /* CONFIG_CAN_STATS */

__syscall uint32_t can_stats_get_ack_errors(const struct device *dev);
 
#ifdef CONFIG_CAN_STATS
static inline uint32_t z_impl_can_stats_get_ack_errors(const struct device *dev)
{
        return Z_CAN_GET_STATS(dev).ack_error;
}
#endif /* CONFIG_CAN_STATS */

__syscall uint32_t can_stats_get_rx_overruns(const struct device *dev);
 
#ifdef CONFIG_CAN_STATS
static inline uint32_t z_impl_can_stats_get_rx_overruns(const struct device *dev)
{
        return Z_CAN_GET_STATS(dev).rx_overrun;
}
#endif /* CONFIG_CAN_STATS */



static inline uint8_t can_dlc_to_bytes(uint8_t dlc)
{
        static const uint8_t dlc_table[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 12,
                                            16, 20, 24, 32, 48, 64};
 
        return dlc_table[MIN(dlc, ARRAY_SIZE(dlc_table) - 1)];
}

static inline uint8_t can_bytes_to_dlc(uint8_t num_bytes)
{
        return num_bytes <= 8  ? num_bytes :
               num_bytes <= 12 ? 9 :
               num_bytes <= 16 ? 10 :
               num_bytes <= 20 ? 11 :
               num_bytes <= 24 ? 12 :
               num_bytes <= 32 ? 13 :
               num_bytes <= 48 ? 14 :
               15;
}

static inline bool can_frame_matches_filter(const struct can_frame *frame,
                                            const struct can_filter *filter)
{
        if ((frame->flags & CAN_FRAME_IDE) != 0 && (filter->flags & CAN_FILTER_IDE) == 0) {
                /* Extended (29-bit) ID frame, standard (11-bit) filter */
                return false;
        }
 
        if ((frame->flags & CAN_FRAME_IDE) == 0 && (filter->flags & CAN_FILTER_IDE) != 0) {
                /* Standard (11-bit) ID frame, extended (29-bit) filter */
                return false;
        }
 
        if ((frame->id ^ filter->id) & filter->mask) {
                /* Masked ID mismatch */
                return false;
        }
 
        return true;
}


 
#ifdef __cplusplus
}
#endif
 
#include <zephyr/syscalls/can.h>
 
#endif /* ZEPHYR_INCLUDE_DRIVERS_CAN_H_ */