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V1.0.6

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刘可亮
2024-09-03 11:16:08 +08:00
parent cf270df8d6
commit 803cac77d5
2931 changed files with 614364 additions and 31222 deletions
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126
bsp/artinchip/drv/can/drv_can.c
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@@ -1,5 +1,5 @@
/*
* Copyright (c) 2022, Artinchip Technology Co., Ltd
* Copyright (c) 2022-2024, ArtInChip Technology Co., Ltd
*
* SPDX-License-Identifier: Apache-2.0
*/
@@ -40,48 +40,92 @@ struct aic_can aic_can_arr[] =
#endif
};
static void aic_can_sw_filter_to_hw_filter(struct rt_can_filter_config *pfilter,
static int aic_can_sw_filter_to_hw_filter(struct rt_can_filter_config *pfilter,
can_filter_config_t *pfilter_cfg)
{
int i;
RT_ASSERT(pfilter);
if (!pfilter)
/*
* If using one hardware filter, use Single Filter Mode.
* If using two hardware filters, use Dual Filter Mode.
* If pfilter->count == 0, close hardware filter, receiving all frames.
*/
pfilter_cfg->filter_mode = pfilter->count;
pfilter_cfg->is_eff = pfilter->items[0].ide;
switch (pfilter_cfg->filter_mode)
{
case SINGLE_FILTER_MODE:
if (pfilter_cfg->is_eff)
{
// Extended frame
pfilter_cfg->rxmask.sfe.id_filter = ~pfilter->items[0].mask;
pfilter_cfg->rxcode.sfe.id_filter = pfilter->items[0].id &
pfilter->items[0].mask;
pfilter_cfg->rxcode.sfe.rtr_filter = pfilter->items[0].rtr;
}
else
{
// Standard frame
pfilter_cfg->rxmask.sfs.data0_filter = 0xFF;
pfilter_cfg->rxmask.sfs.data1_filter = 0xFF;
pfilter_cfg->rxmask.sfs.id_filter = ~pfilter->items[0].mask;
pfilter_cfg->rxcode.sfs.id_filter = pfilter->items[0].id &
pfilter->items[0].mask;
pfilter_cfg->rxcode.sfs.rtr_filter = pfilter->items[0].rtr;
}
break;
case DUAL_FILTER_MODE:
if (pfilter->items[0].ide != pfilter->items[1].ide)
{
LOG_E("Both filters can only filter standard or extended"
" frames at the same time\n");
return -RT_EINVAL;
}
if (pfilter_cfg->is_eff)
{
// Extended frame
LOG_I("In the dual filter mode, extended frames can only "
"filter the bit28~bit13 of the frame ID\n");
pfilter_cfg->rxmask.dfe.id_filter0 =
~pfilter->items[0].mask >> 13;
pfilter_cfg->rxmask.dfe.id_filter1 =
~pfilter->items[1].mask >> 13;
pfilter_cfg->rxcode.dfe.id_filter0 =
(pfilter->items[0].id & pfilter->items[0].mask) >> 13;
pfilter_cfg->rxcode.dfe.id_filter1 =
(pfilter->items[1].id & pfilter->items[1].mask) >> 13;
}
else
{
// Standard frame
pfilter_cfg->rxmask.dfs.id_filter0 = ~pfilter->items[0].mask;
pfilter_cfg->rxmask.dfs.data0_filter0 = 0xFF;
pfilter_cfg->rxmask.dfs.id_filter1 = ~pfilter->items[1].mask;
pfilter_cfg->rxcode.dfs.id_filter0 =
pfilter->items[0].id & pfilter->items[0].mask;
pfilter_cfg->rxcode.dfs.id_filter1 =
pfilter->items[1].id & pfilter->items[1].mask;
pfilter_cfg->rxcode.dfs.rtr_filter0 = pfilter->items[0].rtr;
pfilter_cfg->rxcode.dfs.rtr_filter1 = pfilter->items[1].rtr;
}
break;
case FILTER_CLOSE:
default:
pfilter_cfg->filter_mode = SINGLE_FILTER_MODE;
pfilter_cfg->rxmask.sfs.data0_filter = 0xFF;
pfilter_cfg->rxmask.sfs.data1_filter = 0xFF;
pfilter_cfg->rxmask.sfs.id_filter = 0xFFFF;
pfilter_cfg->rxmask.sfs.rtr_filter = 0xF;
break;
}
else
{
for (i = 0; i < pfilter->count; i++)
{
pfilter_cfg->filter_mode = SINGLE_FILTER_MODE;
if (pfilter->items[i].ide == 1)
pfilter_cfg->is_eff = 1;
if (pfilter_cfg->is_eff)
{
//Extended frame
pfilter_cfg->rxmask.sfe.id_filter = ~pfilter->items[i].mask;
pfilter_cfg->rxcode.sfe.id_filter = pfilter->items[i].id &
pfilter->items[i].mask;
pfilter_cfg->rxcode.sfe.rtr_filter = pfilter->items[i].rtr;
}
else
{
// Standard frame
pfilter_cfg->rxmask.sfs.data0_filter = 0xFF;
pfilter_cfg->rxmask.sfs.data1_filter = 0xFF;
pfilter_cfg->rxmask.sfs.id_filter = ~pfilter->items[i].mask;
pfilter_cfg->rxcode.sfs.id_filter = pfilter->items[i].id &
pfilter->items[i].mask;
pfilter_cfg->rxcode.sfs.rtr_filter = pfilter->items[i].rtr;
}
}
}
return 0;
}
static rt_err_t aic_can_control(struct rt_can_device *can, int cmd, void *arg)
@@ -93,6 +137,7 @@ static rt_err_t aic_can_control(struct rt_can_device *can, int cmd, void *arg)
unsigned long baudrate;
struct rt_can_filter_config *pfilter;
can_filter_config_t filter_cfg;
rt_err_t ret;
switch (cmd)
{
@@ -120,17 +165,21 @@ static rt_err_t aic_can_control(struct rt_can_device *can, int cmd, void *arg)
status->formaterrcnt = phandle->status.formaterrcnt;
status->biterrcnt = phandle->status.biterrcnt;
status->errcode = phandle->status.current_state;
status->ackerrcnt = phandle->status.ackerrcnt;
status->crcerrcnt = phandle->status.crcerrcnt;
break;
case RT_CAN_CMD_SET_FILTER:
pfilter = (struct rt_can_filter_config *)arg;
if (pfilter->count > 1)
if (pfilter->count > 2)
{
rt_kprintf("CAN of this version only support one filter\n");
LOG_E("CAN supports up to two filters!!!\n");
return -RT_EINVAL;
}
rt_memset(&filter_cfg, 0, sizeof(can_filter_config_t));
aic_can_sw_filter_to_hw_filter(pfilter, &filter_cfg);
ret = aic_can_sw_filter_to_hw_filter(pfilter, &filter_cfg);
if (ret)
return ret;
hal_can_ioctl(phandle, CAN_IOCTL_SET_FILTER, (void *)&filter_cfg);
break;
@@ -239,6 +288,9 @@ void aic_can_callback(can_handle * phandle, void *arg)
case CAN_EVENT_RXOF_IND:
rt_hw_can_isr(pcan, RT_CAN_EVENT_RXOF_IND);
break;
case CAN_EVENT_TX_FAIL:
rt_hw_can_isr(pcan, RT_CAN_EVENT_TX_FAIL);
break;
default:
break;
}
@@ -297,7 +349,7 @@ int rt_hw_aic_can_init(void)
config.privmode = RT_CAN_MODE_NOPRIV;
config.ticks = 50;
#ifdef RT_CAN_USING_HDR
config.maxhdr = 1;
config.maxhdr = 2;
#endif
for (i = 0; i < ARRAY_SIZE(aic_can_arr); i++)