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drivers: can: stm32: Remove STM CAN_Init
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Removed the STM32 CAN_Init function and implemented the initialization
in the driver.

Signed-off-by: Alexander Wachter <[email protected]>
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@nashif
Alexander Wachter authored and nashif committed Jul 2, 2019
1 parent b91f374 commit 2b6b065
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Showing 3 changed files with 103 additions and 46 deletions.
1 change: 0 additions & 1 deletion drivers/can/Kconfig.stm32
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,6 @@
config CAN_STM32
bool "STM32 CAN Driver"
depends on SOC_FAMILY_STM32
select USE_STM32_HAL_CAN
help
Enable STM32 CAN Driver (tested on stm32F0 series)

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142 changes: 100 additions & 42 deletions drivers/can/can_stm32.c
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,8 @@
#include <logging/log.h>
LOG_MODULE_DECLARE(can_driver, CONFIG_CAN_LOG_LEVEL);

#define INIT_TIMEOUT (10 * sys_clock_hw_cycles_per_sec() / MSEC_PER_SEC)

/*
* Translation tables
* filter_in_bank[enum can_filter_type] = number of filters in bank for this type
Expand Down Expand Up @@ -184,9 +186,52 @@ static void can_stm32_tx_isr(void *arg)

#endif

void HAL_CAN_MspInit(CAN_HandleTypeDef *hcan)
static int can_enter_init_mode(CAN_TypeDef *can)
{
u32_t start_time;

can->MCR |= CAN_MCR_INRQ;
start_time = k_cycle_get_32();

while ((can->MSR & CAN_MSR_INAK) == 0U) {
if (k_cycle_get_32() - start_time > INIT_TIMEOUT) {
return CAN_TIMEOUT;
}
}

return 0;
}

static int can_leave_init_mode(CAN_TypeDef *can)
{
ARG_UNUSED(hcan);
u32_t start_time;

can->MCR &= ~CAN_MCR_INRQ;
start_time = k_cycle_get_32();

while ((can->MSR & CAN_MSR_INAK) != 0U) {
if (k_cycle_get_32() - start_time > INIT_TIMEOUT) {
return CAN_TIMEOUT;
}
}

return 0;
}

static int can_leave_sleep_mode(CAN_TypeDef *can)
{
u32_t start_time;

can->MCR &= ~CAN_MCR_SLEEP;
start_time = k_cycle_get_32();

while ((can->MSR & CAN_MSR_SLAK) != 0) {
if (k_cycle_get_32() - start_time > INIT_TIMEOUT) {
return CAN_TIMEOUT;
}
}

return 0;
}

int can_stm32_runtime_configure(struct device *dev, enum can_mode mode,
Expand All @@ -198,10 +243,9 @@ int can_stm32_runtime_configure(struct device *dev, enum can_mode mode,
struct device *clock;
u32_t clock_rate;
u32_t prescaler;
u32_t hal_mode;
int hal_ret;
u32_t bs1;
u32_t bs2;
u32_t reg_mode;
u32_t ts1;
u32_t ts2;
u32_t sjw;
int ret;

Expand Down Expand Up @@ -232,42 +276,36 @@ int can_stm32_runtime_configure(struct device *dev, enum can_mode mode,
" * bus_speed); "
"prescaler = %d / ((%d + %d + 1) * %d)",
clock_rate,
cfg->prop_bs1,
cfg->bs2,
cfg->prop_ts1,
cfg->ts2,
bitrate);
}

__ASSERT(cfg->sjw <= 0x03, "SJW maximum is 3");
__ASSERT(cfg->prop_bs1 <= 0x0F, "PROP_BS1 maximum is 15");
__ASSERT(cfg->bs2 <= 0x07, "BS2 maximum is 7");
__ASSERT(cfg->prop_ts1 <= 0x0F, "PROP_BS1 maximum is 15");
__ASSERT(cfg->ts2 <= 0x07, "BS2 maximum is 7");

bs1 = ((cfg->prop_bs1 & 0x0F) - 1) << CAN_BTR_TS1_Pos;
bs2 = ((cfg->bs2 & 0x07) - 1) << CAN_BTR_TS2_Pos;
ts1 = ((cfg->prop_ts1 & 0x0F) - 1) << CAN_BTR_TS1_Pos;
ts2 = ((cfg->ts2 & 0x07) - 1) << CAN_BTR_TS2_Pos;
sjw = ((cfg->sjw & 0x07) - 1) << CAN_BTR_SJW_Pos;

hal_mode = mode == CAN_NORMAL_MODE ? CAN_MODE_NORMAL :
mode == CAN_LOOPBACK_MODE ? CAN_MODE_LOOPBACK :
mode == CAN_SILENT_MODE ? CAN_MODE_SILENT :
CAN_MODE_SILENT_LOOPBACK;

hcan.Init.TTCM = DISABLE;
hcan.Init.ABOM = DISABLE;
hcan.Init.AWUM = DISABLE;
hcan.Init.NART = DISABLE;
hcan.Init.RFLM = DISABLE;
hcan.Init.TXFP = DISABLE;
hcan.Init.Mode = hal_mode;
hcan.Init.SJW = sjw;
hcan.Init.BS1 = bs1;
hcan.Init.BS2 = bs2;
hcan.Init.Prescaler = prescaler;

hcan.State = HAL_CAN_STATE_RESET;

hal_ret = HAL_CAN_Init(&hcan);
if (hal_ret != HAL_OK) {
LOG_ERR("HAL_CAN_Init failed: %d", hal_ret);
return -EIO;
reg_mode = (mode == CAN_NORMAL_MODE) ? 0U :
(mode == CAN_LOOPBACK_MODE) ? CAN_BTR_LBKM :
(mode == CAN_SILENT_MODE) ? CAN_BTR_SILM :
CAN_BTR_LBKM | CAN_BTR_SILM;

ret = can_enter_init_mode(can);
if (ret) {
LOG_ERR("Failed to enter init mode");
return ret;
}

can->BTR = reg_mode | sjw | ts1 | ts2 | (prescaler - 1U);

ret = can_leave_init_mode(can);
if (ret) {
LOG_ERR("Failed to leave init mode");
return ret;
}

LOG_DBG("Runtime configure of %s done", dev->config->name);
Expand Down Expand Up @@ -305,13 +343,32 @@ static int can_stm32_init(struct device *dev)
return -EIO;
}

ret = can_leave_sleep_mode(can);
if (ret) {
LOG_ERR("Failed to exit sleep mode");
return ret;
}

ret = can_enter_init_mode(can);
if (ret) {
LOG_ERR("Failed to enter init mode");
return ret;
}

can->MCR &= ~CAN_MCR_TTCM & ~CAN_MCR_TTCM & ~CAN_MCR_ABOM &
~CAN_MCR_AWUM & ~CAN_MCR_NART & ~CAN_MCR_RFLM &
~CAN_MCR_TXFP;

ret = can_stm32_runtime_configure(dev, CAN_NORMAL_MODE, 0);
if (ret) {
return ret;
}

/* Leave sleep mode after reset*/
can->MCR &= ~CAN_MCR_SLEEP;

cfg->config_irq(can);
can->IER |= CAN_IT_TME;
can->IER |= CAN_IER_TMEIE;
LOG_INF("Init of %s done", dev->config->name);
return 0;
}
Expand Down Expand Up @@ -360,15 +417,15 @@ int can_stm32_send(struct device *dev, const struct zcan_frame *msg,

if (transmit_status_register & CAN_TSR_TME0) {
LOG_DBG("Using mailbox 0");
mailbox = &can->sTxMailBox[CAN_TXMAILBOX_0];
mailbox = &can->sTxMailBox[0];
mb = &(data->mb0);
} else if (transmit_status_register & CAN_TSR_TME1) {
LOG_DBG("Using mailbox 1");
mailbox = &can->sTxMailBox[CAN_TXMAILBOX_1];
mailbox = &can->sTxMailBox[1];
mb = &data->mb1;
} else if (transmit_status_register & CAN_TSR_TME2) {
LOG_DBG("Using mailbox 2");
mailbox = &can->sTxMailBox[CAN_TXMAILBOX_2];
mailbox = &can->sTxMailBox[2];
mb = &data->mb2;
}

Expand Down Expand Up @@ -820,8 +877,8 @@ static const struct can_stm32_config can_stm32_cfg_1 = {
.can = (CAN_TypeDef *)DT_CAN_1_BASE_ADDRESS,
.bus_speed = DT_CAN_1_BUS_SPEED,
.sjw = DT_CAN_1_SJW,
.prop_bs1 = DT_CAN_1_PROP_SEG + DT_CAN_1_PHASE_SEG1,
.bs2 = DT_CAN_1_PHASE_SEG2,
.prop_ts1 = DT_CAN_1_PROP_SEG + DT_CAN_1_PHASE_SEG1,
.ts2 = DT_CAN_1_PHASE_SEG2,
.pclken = {
.enr = DT_CAN_1_CLOCK_BITS,
.bus = DT_CAN_1_CLOCK_BUS,
Expand Down Expand Up @@ -856,7 +913,8 @@ static void config_can_1_irq(CAN_TypeDef *can)
can_stm32_tx_isr, DEVICE_GET(can_stm32_1), 0);
irq_enable(DT_CAN_1_IRQ_SCE);
#endif
can->IER |= CAN_IT_TME | CAN_IT_ERR | CAN_IT_FMP0 | CAN_IT_FMP1;
can->IER |= CAN_IER_TMEIE | CAN_IER_ERRIE | CAN_IER_FMPIE0 |
CAN_IER_FMPIE1 | CAN_IER_BOFIE;
}

#if defined(CONFIG_NET_SOCKETS_CAN)
Expand Down
6 changes: 3 additions & 3 deletions drivers/can/can_stm32.h
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Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,7 @@
#define DEV_CFG(dev) \
((const struct can_stm32_config *const)(dev)->config->config_info)

#define BIT_SEG_LENGTH(cfg) ((cfg)->prop_bs1 + (cfg)->bs2 + 1)
#define BIT_SEG_LENGTH(cfg) ((cfg)->prop_ts1 + (cfg)->ts2 + 1)

#define CAN_NUMBER_OF_FILTER_BANKS (14)
#define CAN_MAX_NUMBER_OF_FILTERS (CAN_NUMBER_OF_FILTER_BANKS * 4)
Expand Down Expand Up @@ -71,8 +71,8 @@ struct can_stm32_config {
CAN_TypeDef *can; /*!< CAN Registers*/
u32_t bus_speed;
u8_t sjw;
u8_t prop_bs1;
u8_t bs2;
u8_t prop_ts1;
u8_t ts2;
struct stm32_pclken pclken;
void (*config_irq)(CAN_TypeDef *can);
};
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