Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Fix bugs on can driver #95

Merged
merged 4 commits into from
Nov 17, 2024
Merged

Fix bugs on can driver #95

Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
55bd447
drivers/can: Reformat by clang-format
sasataku Nov 10, 2024
29fb3d9
drivers/can: Initialization of TX and RX mutex
sasataku Nov 10, 2024
502e1ea
drivers/can: Fix duplicate tx callback
sasataku Nov 10, 2024
185cb59
drivers/can: Fix error status to negative
sasataku Nov 10, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
72 changes: 36 additions & 36 deletions drivers/can/can_sccan.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -52,8 +52,8 @@ LOG_MODULE_REGISTER(sc_can, CONFIG_CAN_LOG_LEVEL);
#define SCCAN_CANEN BIT(0)

/* CAN Error Count Register */
#define SCCAN_RXECNT(x) (((x)&GENMASK(15, 8)) >> 8)
#define SCCAN_TXECNT(x) (((x)&GENMASK(7, 0)))
#define SCCAN_RXECNT(x) (((x) & GENMASK(15, 8)) >> 8)
#define SCCAN_TXECNT(x) (((x) & GENMASK(7, 0)))

/* CAN Bit Timing Setting Register */
#define SCCAN_BTSR_SJW(x) ((x) << 7)
Expand All @@ -65,7 +65,7 @@ LOG_MODULE_REGISTER(sc_can, CONFIG_CAN_LOG_LEVEL);
#define SCCAN_TXFFL BIT(6)
#define SCCAN_TXHBFL BIT(5)
#define SCCAN_TXFNEP BIT(4)
#define SCCAN_ESTS(x) (((x)&GENMASK(3, 2)) >> 2)
#define SCCAN_ESTS(x) (((x) & GENMASK(3, 2)) >> 2)
#define SCCAN_EWRN BIT(1)
#define SCCAN_BBUSY BIT(0)
#define SCCAN_ESTS_CAN_DISABLE (0U)
Expand Down Expand Up @@ -94,9 +94,9 @@ LOG_MODULE_REGISTER(sc_can, CONFIG_CAN_LOG_LEVEL);
SCCAN_TXFOVFENB | SCCAN_TXHBOVFENB | SCCAN_ARBLSTENB | SCCAN_TRNSDNENB)

/* CAN Controller IP Version Register */
#define SCCAN_VER_MAJOR(x) (((x)&0xff000000) >> 24)
#define SCCAN_VER_MINOR(x) (((x)&0x00ff0000) >> 16)
#define SCCAN_VER_PATCH(x) (((x)&0x0000ffff) >> 0)
#define SCCAN_VER_MAJOR(x) (((x) & 0xff000000) >> 24)
#define SCCAN_VER_MINOR(x) (((x) & 0x00ff0000) >> 16)
#define SCCAN_VER_PATCH(x) (((x) & 0x0000ffff) >> 0)

/* CAN Interrupt Status Register */
#define SCCAN_BUSOFF BIT(13)
Expand Down Expand Up @@ -437,8 +437,8 @@ static void sc_can_set_acceptance_filter(const struct sc_can_cfg *config, int fi
* "Acceptance filer" to SC CAN controller.
*/
static int sc_can_add_acceptance_filter(const struct device *dev, int filter_id,
can_rx_callback_t cb, void *cb_arg,
const struct can_filter *filter)
can_rx_callback_t cb, void *cb_arg,
const struct can_filter *filter)
{
const struct sc_can_cfg *config = dev->config;
struct sc_can_data *data = dev->data;
Expand Down Expand Up @@ -527,8 +527,8 @@ static void sc_can_rx_cb(const struct device *dev, struct can_frame *frame)
}

if (can_frame_matches_filter(frame, &data->rx_filters[filter_id].rx_filter)) {
data->rx_filters[filter_id].rx_cb(
dev, frame, data->rx_filters[filter_id].rx_cb_arg);
data->rx_filters[filter_id].rx_cb(dev, frame,
data->rx_filters[filter_id].rx_cb_arg);
LOG_DBG("Filter matched. ID: %d", filter_id);
}
}
Expand All @@ -539,7 +539,7 @@ static void sc_can_rx_cb(const struct device *dev, struct can_frame *frame)
static void sc_can_rx_isr(const struct device *dev)
{
const struct sc_can_cfg *config = dev->config;
struct can_frame frame = { 0 };
struct can_frame frame = {0};

sc_can_get_idr_and_dlc(config, &frame);

Expand All @@ -560,7 +560,7 @@ static void sc_can_get_error_count(const struct sc_can_cfg *config, struct can_b
}

static void _sc_can_get_state(const struct device *dev, enum can_state *state,
struct can_bus_err_cnt *err_cnt)
struct can_bus_err_cnt *err_cnt)
{
const struct sc_can_cfg *config = dev->config;
uint32_t status_reg;
Expand Down Expand Up @@ -770,15 +770,16 @@ static void sc_can_isr(const struct device *dev)
* However we plan to improve the Interrupt Status Register.
* Now, when an ACK error occurs, stop the CAN control.
*/
LOG_ERR("ACK error has occurred. Since there is no one on the CAN bus, will stop the CAN.");
LOG_ERR("ACK error has occurred. Since there is no one on the CAN bus, will stop "
"the CAN.");
CAN_STATS_ACK_ERROR_INC(dev);
sc_can_stop(dev);
}
if (isr & SCCAN_BITER) {
/* SC CAN does not distinguish between BIT0 and 1 errors,
* so it counts on BIT0. */
CAN_STATS_BIT0_ERROR_INC(dev);
sc_can_tx_done(dev, SCCAN_BITER);
sc_can_tx_done(dev, -SCCAN_BITER);
}
if (isr & SCCAN_STFER) {
}
Expand All @@ -796,13 +797,12 @@ static void sc_can_isr(const struct device *dev)
if (isr & SCCAN_RCVDN) {
}
if (isr & SCCAN_TXFOVF) {
sc_can_tx_done(dev, SCCAN_TXFOVF);
sc_can_tx_done(dev, -SCCAN_TXFOVF);
}
if (isr & SCCAN_TXHBOVF) {
/* TX High Priority Buffer is not used yet */
}
if (isr & SCCAN_ARBLST) {
sc_can_tx_done(dev, SCCAN_ARBLST);
}
if (isr & SCCAN_TRNSDN) {
sc_can_tx_done(dev, 0);
Expand Down Expand Up @@ -1032,7 +1032,6 @@ static void sc_can_remove_rx_filter(const struct device *dev, int filter_id)
goto unlock;
}


LOG_DBG("Filter removed. ID: %d", filter_id);

unlock:
Expand Down Expand Up @@ -1117,14 +1116,14 @@ static const struct can_driver_api sc_can_driver_api = {
* It shall be programmed to compensate the delay times of the actual network,
* rounded up to the nearest integer time quantum.
* - Phase_Seg1 shall be programmable to be 1, 2, 3, . . ., 8 or more time quanta long.
* - Phase_Seg2 shall be programmed to the maximum of Phase_Seg1 and the information processing
* time.
* - Phase_Seg2 shall be programmed to the maximum of Phase_Seg1 and the information
* processing time.
* - SJW shall be programmable between 1 and the minimum of Phase_Seg1 and 4.
*
* In a CAN implementation, Prop_Seg and Phase_Seg1 do not need to be programmable separately;
* it is sufficient to program the sum of Prop_Seg and Phase_Seg1.
* The total number of time quanta in a bit time shall be programmable at least from 8 to 25.
* In this driver:
* In a CAN implementation, Prop_Seg and Phase_Seg1 do not need to be programmable
* separately; it is sufficient to program the sum of Prop_Seg and Phase_Seg1. The total
* number of time quanta in a bit time shall be programmable at least from 8 to 25. In this
* driver:
* - SJW
* set to 1 - 4.
* - prop_seg
Expand All @@ -1136,22 +1135,21 @@ static const struct can_driver_api sc_can_driver_api = {
* - prescaler
* SC CAN IP core have 16 bit register value for set the prescaler. so set to 0x1000.
*/
.timing_min = { .sjw = 0x1,
.prop_seg = 0x01,
.phase_seg1 = 0x01,
.phase_seg2 = 0x01,
.prescaler = 0x01 },
.timing_max = { .sjw = 0x4,
.prop_seg = 0x08,
.phase_seg1 = 0x08,
.phase_seg2 = 0x08,
.prescaler = 0x1000 }
};
.timing_min = {.sjw = 0x1,
.prop_seg = 0x01,
.phase_seg1 = 0x01,
.phase_seg2 = 0x01,
.prescaler = 0x01},
.timing_max = {.sjw = 0x4,
.prop_seg = 0x08,
.phase_seg1 = 0x08,
.phase_seg2 = 0x08,
.prescaler = 0x1000}};

#define SCCAN_INIT(n) \
static void sc_can_##n##_irq_init(const struct device *dev); \
static struct sc_can_tx_cb_data tx_cb_data_list_##n[DT_INST_PROP(n, tx_fifo_depth)]; \
static struct sc_can_rx_filters rx_filters_##n[DT_INST_PROP(n, max_filter)]; \
static struct sc_can_rx_filters rx_filters_##n[DT_INST_PROP(n, max_filter)]; \
static const struct sc_can_cfg sc_can_cfg_##n = { \
.common = CAN_DT_DRIVER_CONFIG_INST_GET(n, 0, 1000000), \
.reg_addr = DT_INST_REG_ADDR(n), \
Expand All @@ -1163,10 +1161,12 @@ static const struct can_driver_api sc_can_driver_api = {
static struct sc_can_data sc_can_data_##n = { \
.enadis_mutex = Z_MUTEX_INITIALIZER(sc_can_data_##n.enadis_mutex), \
.timing_mutex = Z_MUTEX_INITIALIZER(sc_can_data_##n.timing_mutex), \
.tx_mutex = Z_MUTEX_INITIALIZER(sc_can_data_##n.tx_mutex), \
.rx_mutex = Z_MUTEX_INITIALIZER(sc_can_data_##n.rx_mutex), \
.tx_cb_data_list = tx_cb_data_list_##n, \
.tx_head = 0, \
.tx_tail = 0, \
.rx_filters = rx_filters_##n, \
.rx_filters = rx_filters_##n, \
.state = CAN_STATE_STOPPED, \
}; \
CAN_DEVICE_DT_INST_DEFINE(n, sc_can_init, NULL, &sc_can_data_##n, &sc_can_cfg_##n, \
Expand Down