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commit 3e2f28ef680d62fd30205d40e69e3176ad7d8aad Author: Jacob Dahl <[email protected]> AuthorDate: Sun Aug 30 14:38:42 2026 -0600 net, arch: Fix nxstyle errors in files the CAN ioctl merge touches. Whitespace only: blank lines after declarations, misindented switch bodies and brace alignment. nxstyle runs over the whole of any file a change touches, and merging the CAN ioctl options renames a config in every SocketCAN driver. Assisted-by: Claude:claude-fable-5 Signed-off-by: Jacob Dahl <[email protected]> --- arch/arm/src/imx9/imx9_flexcan.c | 231 +++++++++++++++++--------------- arch/arm/src/kinetis/kinetis_flexcan.c | 108 ++++++++------- arch/arm/src/s32k1xx/s32k1xx_flexcan.c | 95 +++++++------ arch/arm/src/s32k3xx/s32k3xx_flexcan.c | 195 ++++++++++++++------------- arch/arm/src/stm32h7/stm32_fdcan_sock.c | 95 +++++++------ arch/arm64/src/imx9/imx9_flexcan.c | 44 +++--- arch/risc-v/src/mpfs/mpfs_can.c | 136 ++++++++++--------- net/can/can_callback.c | 38 +++--- net/netdev/netdev_ioctl.c | 20 ++- 9 files changed, 538 insertions(+), 424 deletions(-) diff --git a/arch/arm/src/imx9/imx9_flexcan.c b/arch/arm/src/imx9/imx9_flexcan.c index c362866a7db..1bdaa09fdfb 100644 --- a/arch/arm/src/imx9/imx9_flexcan.c +++ b/arch/arm/src/imx9/imx9_flexcan.c @@ -628,6 +628,7 @@ static int imx9_transmit(struct imx9_driver_s *priv) /* Check whether message buffer is not currently transmitting */ struct mb_s *mb = flexcan_get_mb(priv, mbi); + if (mb->cs.code != CAN_TXMB_DATAORREMOTE) { putreg32(mb_bit, priv->base + IMX9_CAN_IFLAG1_OFFSET); @@ -650,12 +651,14 @@ static int imx9_transmit(struct imx9_driver_s *priv) #ifdef CONFIG_NET_CAN_RAW_TX_DEADLINE struct timespec ts; + clock_systime_timespec(&ts); if (priv->dev.d_sndlen > priv->dev.d_len) { struct timeval *tv = (struct timeval *)(priv->dev.d_buf + priv->dev.d_len); + priv->txmb[txmb].deadline = *tv; timeout = (tv->tv_sec - ts.tv_sec)*CLK_TCK + ((tv->tv_usec - ts.tv_nsec / 1000)*CLK_TCK) / 1000000; @@ -690,9 +693,11 @@ static int imx9_transmit(struct imx9_driver_s *priv) (peak_tx_mailbox_index_ > mbi ? peak_tx_mailbox_index_ : mbi); union cs_e cs; + cs.cs = 0; cs.code = CAN_TXMB_DATAORREMOTE; struct mb_s *mb = flexcan_get_mb(priv, mbi); + mb->cs.code = CAN_TXMB_INACTIVE; if (priv->dev.d_len == sizeof(struct can_frame)) @@ -755,6 +760,7 @@ static int imx9_transmit(struct imx9_driver_s *priv) */ struct mb_s *buffer = flexcan_get_mb(priv, RXMBCOUNT); + buffer->cs.code = 0x3; buffer->cs.code = 0x3; @@ -878,11 +884,13 @@ static void imx9_receive(struct imx9_driver_s *priv, mbj = mbi = arm_lsb(f); rf = flexcan_get_mb(priv, mbi); uint32_t t = rf->cs.time_stamp; + while ((f &= ~(1 << mbj)) != 0) { mbj = arm_lsb(f); struct mb_s *rf_next = flexcan_get_mb(priv, mbj); uint16_t t_next = rf_next->cs.time_stamp; + if ((int16_t)(t - t_next) > 0) { t = t_next; @@ -897,7 +905,7 @@ static void imx9_receive(struct imx9_driver_s *priv, #ifdef CONFIG_NET_CAN_CANFD if (rf->cs.edl) /* CAN FD frame */ { - struct canfd_frame *frame = (struct canfd_frame *)priv->rxdesc_fd; + struct canfd_frame *frame = (struct canfd_frame *)priv->rxdesc_fd; if (rf->cs.ide) { @@ -938,7 +946,7 @@ static void imx9_receive(struct imx9_driver_s *priv, else /* CAN 2.0 Frame */ #endif { - struct can_frame *frame = (struct can_frame *)priv->rxdesc; + struct can_frame *frame = (struct can_frame *)priv->rxdesc; if (rf->cs.ide) { @@ -1058,6 +1066,7 @@ static void imx9_txdone(struct imx9_driver_s *priv) wd_cancel(&priv->txtimeout[txmb]); struct mb_s *mb = flexcan_get_mb(priv, mbi); + mb->cs.code = CAN_TXMB_INACTIVE; #endif } @@ -1128,6 +1137,7 @@ static void imx9_flexcan_interrupt_work(void *arg) struct imx9_driver_s *priv = (struct imx9_driver_s *)arg; uint32_t flags; + flags = getreg32(priv->base + IMX9_CAN_IFLAG1_OFFSET); flags &= IFLAG1_RX; @@ -1168,6 +1178,7 @@ static int imx9_flexcan_interrupt(int irq, void *context, if (irq == priv->config->irq) { uint32_t flags; + flags = getreg32(priv->base + IMX9_CAN_IFLAG1_OFFSET); flags &= IFLAG1_RX; @@ -1221,6 +1232,7 @@ static void imx9_txtimeout_work(void *arg) struct timespec ts; struct timeval *now = (struct timeval *)&ts; + clock_systime_timespec(&ts); now->tv_usec = ts.tv_nsec / 1000; /* timespec to timeval conversion */ @@ -1246,6 +1258,7 @@ static void imx9_txtimeout_work(void *arg) } struct mb_s *mb = flexcan_get_mb(priv, mbi + RXMBCOUNT); + mb->cs.code = CAN_TXMB_ABORT; priv->txmb[mbi].pending = TX_ABORT; } @@ -1305,6 +1318,7 @@ static void imx9_setenable(uint32_t base, uint32_t enable) static void imx9_setfreeze(uint32_t base, uint32_t freeze) { uint32_t regval; + if (freeze) { /* Enter freeze mode */ @@ -1333,6 +1347,7 @@ static uint32_t imx9_waitmcr_change(uint32_t base, uint32_t mask, { const bool state = (getreg32(base + IMX9_CAN_MCR_OFFSET) & mask) != 0; + if (state == target_state) { return true; @@ -1549,6 +1564,7 @@ static int imx9_ioctl(struct net_driver_s *dev, int cmd, { struct can_ioctl_data_s *req = (struct can_ioctl_data_s *)((uintptr_t)arg); + req->arbi_bitrate = priv->arbi_timing.bitrate; req->arbi_samplep = priv->arbi_timing.samplep; if (priv->canfd_capable) @@ -1572,6 +1588,7 @@ static int imx9_ioctl(struct net_driver_s *dev, int cmd, (struct can_ioctl_data_s *)((uintptr_t)arg); struct flexcan_timeseg arbi_timing; + arbi_timing.bitrate = req->arbi_bitrate; arbi_timing.samplep = req->arbi_samplep; @@ -1585,19 +1602,19 @@ static int imx9_ioctl(struct net_driver_s *dev, int cmd, } if (priv->canfd_capable) - { - data_timing.bitrate = req->data_bitrate; - data_timing.samplep = req->data_samplep; - - if (ret == OK && imx9_bitratetotimeseg(&data_timing, 10, 1)) - { - ret = OK; - } - else - { - ret = -EINVAL; - } - } + { + data_timing.bitrate = req->data_bitrate; + data_timing.samplep = req->data_samplep; + + if (ret == OK && imx9_bitratetotimeseg(&data_timing, 10, 1)) + { + ret = OK; + } + else + { + ret = -EINVAL; + } + } if (ret == OK) { @@ -1605,9 +1622,9 @@ static int imx9_ioctl(struct net_driver_s *dev, int cmd, priv->arbi_timing = arbi_timing; if (priv->canfd_capable) - { - priv->data_timing = data_timing; - } + { + priv->data_timing = data_timing; + } } } break; @@ -1782,12 +1799,14 @@ static int imx9_initialize(struct imx9_driver_s *priv) * transmitting the package, hence we write 0x3. */ - struct mb_s *buffer = flexcan_get_mb(priv, RXMBCOUNT); - buffer->cs.code = 0x3; + struct mb_s *buffer = flexcan_get_mb(priv, RXMBCOUNT); + + buffer->cs.code = 0x3; for (i = RXMBCOUNT + 1; i < TOTALMBCOUNT; i++) { struct mb_s *rx = flexcan_get_mb(priv, i); + rx->id.w = 0x0; /* FIXME sometimes we get a hard fault here */ @@ -1803,6 +1822,7 @@ static int imx9_initialize(struct imx9_driver_s *priv) for (i = 0; i < RXMBCOUNT; i++) { struct mb_s *rx = flexcan_get_mb(priv, i); + ninfo("Set MB%" PRIi32 " to receive %p\n", i, rx); rx->cs.edl = 0x1; rx->cs.brs = 0x1; @@ -1868,6 +1888,7 @@ static void imx9_reset(struct imx9_driver_s *priv) for (i = 0; i < TOTALMBCOUNT; i++) { struct mb_s *rx = flexcan_get_mb(priv, i); + ninfo("MB %" PRIi32 " %p\n", i, rx); ninfo("MB %" PRIi32 " %p\n", i, &rx->id.w); rx->cs.cs = 0x0; @@ -1928,143 +1949,143 @@ int imx9_caninitialize(int intf) switch (intf) { #ifdef CONFIG_IMX9_FLEXCAN1 - case 1: - priv = &g_flexcan1; - memset(priv, 0, sizeof(struct imx9_driver_s)); - priv->base = IMX9_CAN1_BASE; - priv->config = &imx9_flexcan1_config; + case 1: + priv = &g_flexcan1; + memset(priv, 0, sizeof(struct imx9_driver_s)); + priv->base = IMX9_CAN1_BASE; + priv->config = &imx9_flexcan1_config; # if defined(CONFIG_NET_CAN_CANFD) - priv->canfd_capable = true; - priv->mb_address_offset = 14; + priv->canfd_capable = true; + priv->mb_address_offset = 14; #endif - /* Default bitrate configuration */ + /* Default bitrate configuration */ # if defined(CONFIG_NET_CAN_CANFD) - priv->arbi_timing.bitrate = CONFIG_FLEXCAN1_ARBI_BITRATE; - priv->arbi_timing.samplep = CONFIG_FLEXCAN1_ARBI_SAMPLEP; - priv->data_timing.bitrate = CONFIG_FLEXCAN1_DATA_BITRATE; - priv->data_timing.samplep = CONFIG_FLEXCAN1_DATA_SAMPLEP; + priv->arbi_timing.bitrate = CONFIG_FLEXCAN1_ARBI_BITRATE; + priv->arbi_timing.samplep = CONFIG_FLEXCAN1_ARBI_SAMPLEP; + priv->data_timing.bitrate = CONFIG_FLEXCAN1_DATA_BITRATE; + priv->data_timing.samplep = CONFIG_FLEXCAN1_DATA_SAMPLEP; # else - priv->arbi_timing.bitrate = CONFIG_FLEXCAN1_BITRATE; - priv->arbi_timing.samplep = CONFIG_FLEXCAN1_SAMPLEP; + priv->arbi_timing.bitrate = CONFIG_FLEXCAN1_BITRATE; + priv->arbi_timing.samplep = CONFIG_FLEXCAN1_SAMPLEP; # endif - break; + break; #endif #ifdef CONFIG_IMX9_FLEXCAN2 - case 2: - priv = &g_flexcan2; - memset(priv, 0, sizeof(struct imx9_driver_s)); - priv->base = IMX9_CAN2_BASE; - priv->config = &imx9_flexcan2_config; + case 2: + priv = &g_flexcan2; + memset(priv, 0, sizeof(struct imx9_driver_s)); + priv->base = IMX9_CAN2_BASE; + priv->config = &imx9_flexcan2_config; # if defined(CONFIG_NET_CAN_CANFD) - priv->canfd_capable = true; - priv->mb_address_offset = 14; + priv->canfd_capable = true; + priv->mb_address_offset = 14; # else - priv->canfd_capable = false; - priv->mb_address_offset = 0; + priv->canfd_capable = false; + priv->mb_address_offset = 0; # endif - /* Default bitrate configuration */ + /* Default bitrate configuration */ # if defined(CONFIG_NET_CAN_CANFD) - priv->arbi_timing.bitrate = CONFIG_FLEXCAN2_ARBI_BITRATE; - priv->arbi_timing.samplep = CONFIG_FLEXCAN2_ARBI_SAMPLEP; - priv->data_timing.bitrate = CONFIG_FLEXCAN2_DATA_BITRATE; - priv->data_timing.samplep = CONFIG_FLEXCAN2_DATA_SAMPLEP; + priv->arbi_timing.bitrate = CONFIG_FLEXCAN2_ARBI_BITRATE; + priv->arbi_timing.samplep = CONFIG_FLEXCAN2_ARBI_SAMPLEP; + priv->data_timing.bitrate = CONFIG_FLEXCAN2_DATA_BITRATE; + priv->data_timing.samplep = CONFIG_FLEXCAN2_DATA_SAMPLEP; # else - priv->arbi_timing.bitrate = CONFIG_FLEXCAN2_BITRATE; - priv->arbi_timing.samplep = CONFIG_FLEXCAN2_SAMPLEP; + priv->arbi_timing.bitrate = CONFIG_FLEXCAN2_BITRATE; + priv->arbi_timing.samplep = CONFIG_FLEXCAN2_SAMPLEP; # endif - break; + break; #endif #ifdef CONFIG_IMX9_FLEXCAN3 - case 3: - priv = &g_flexcan3; - memset(priv, 0, sizeof(struct imx9_driver_s)); - priv->base = IMX9_CAN3_BASE; - priv->config = &imx9_flexcan3_config; + case 3: + priv = &g_flexcan3; + memset(priv, 0, sizeof(struct imx9_driver_s)); + priv->base = IMX9_CAN3_BASE; + priv->config = &imx9_flexcan3_config; # ifdef CONFIG_NET_CAN_CANFD - priv->canfd_capable = true; - priv->mb_address_offset = 14; + priv->canfd_capable = true; + priv->mb_address_offset = 14; # else - priv->canfd_capable = false; - priv->mb_address_offset = 0; + priv->canfd_capable = false; + priv->mb_address_offset = 0; # endif - /* Default bitrate configuration */ + /* Default bitrate configuration */ # ifdef CONFIG_NET_CAN_CANFD - priv->arbi_timing.bitrate = CONFIG_FLEXCAN3_ARBI_BITRATE; - priv->arbi_timing.samplep = CONFIG_FLEXCAN3_ARBI_SAMPLEP; - priv->data_timing.bitrate = CONFIG_FLEXCAN3_DATA_BITRATE; - priv->data_timing.samplep = CONFIG_FLEXCAN3_DATA_SAMPLEP; + priv->arbi_timing.bitrate = CONFIG_FLEXCAN3_ARBI_BITRATE; + priv->arbi_timing.samplep = CONFIG_FLEXCAN3_ARBI_SAMPLEP; + priv->data_timing.bitrate = CONFIG_FLEXCAN3_DATA_BITRATE; + priv->data_timing.samplep = CONFIG_FLEXCAN3_DATA_SAMPLEP; # else - priv->arbi_timing.bitrate = CONFIG_FLEXCAN3_BITRATE; - priv->arbi_timing.samplep = CONFIG_FLEXCAN3_SAMPLEP; + priv->arbi_timing.bitrate = CONFIG_FLEXCAN3_BITRATE; + priv->arbi_timing.samplep = CONFIG_FLEXCAN3_SAMPLEP; # endif - break; + break; #endif #ifdef CONFIG_IMX9_FLEXCAN4 - case 4: - priv = &g_flexcan4; - memset(priv, 0, sizeof(struct imx9_driver_s)); - priv->base = IMX9_CAN4_BASE; - priv->config = &imx9_flexcan4_config; + case 4: + priv = &g_flexcan4; + memset(priv, 0, sizeof(struct imx9_driver_s)); + priv->base = IMX9_CAN4_BASE; + priv->config = &imx9_flexcan4_config; # ifdef CONFIG_NET_CAN_CANFD - priv->canfd_capable = true; - priv->mb_address_offset = 14; + priv->canfd_capable = true; + priv->mb_address_offset = 14; # else - priv->canfd_capable = false; - priv->mb_address_offset = 0; + priv->canfd_capable = false; + priv->mb_address_offset = 0; # endif - /* Default bitrate configuration */ + /* Default bitrate configuration */ # ifdef CONFIG_NET_CAN_CANFD - priv->arbi_timing.bitrate = CONFIG_FLEXCAN4_ARBI_BITRATE; - priv->arbi_timing.samplep = CONFIG_FLEXCAN4_ARBI_SAMPLEP; - priv->data_timing.bitrate = CONFIG_FLEXCAN4_DATA_BITRATE; - priv->data_timing.samplep = CONFIG_FLEXCAN4_DATA_SAMPLEP; + priv->arbi_timing.bitrate = CONFIG_FLEXCAN4_ARBI_BITRATE; + priv->arbi_timing.samplep = CONFIG_FLEXCAN4_ARBI_SAMPLEP; + priv->data_timing.bitrate = CONFIG_FLEXCAN4_DATA_BITRATE; + priv->data_timing.samplep = CONFIG_FLEXCAN4_DATA_SAMPLEP; # else - priv->arbi_timing.bitrate = CONFIG_FLEXCAN4_BITRATE; - priv->arbi_timing.samplep = CONFIG_FLEXCAN4_SAMPLEP; + priv->arbi_timing.bitrate = CONFIG_FLEXCAN4_BITRATE; + priv->arbi_timing.samplep = CONFIG_FLEXCAN4_SAMPLEP; # endif - break; + break; #endif #ifdef CONFIG_IMX9_FLEXCAN5 - case 5: - priv = &g_flexcan5; - memset(priv, 0, sizeof(struct imx9_driver_s)); - priv->base = IMX9_CAN5_BASE; - priv->config = &imx9_flexcan5_config; + case 5: + priv = &g_flexcan5; + memset(priv, 0, sizeof(struct imx9_driver_s)); + priv->base = IMX9_CAN5_BASE; + priv->config = &imx9_flexcan5_config; # ifdef CONFIG_NET_CAN_CANFD - priv->canfd_capable = true; - priv->mb_address_offset = 14; + priv->canfd_capable = true; + priv->mb_address_offset = 14; # else - priv->canfd_capable = false; - priv->mb_address_offset = 0; + priv->canfd_capable = false; + priv->mb_address_offset = 0; # endif - /* Default bitrate configuration */ + /* Default bitrate configuration */ # ifdef CONFIG_NET_CAN_CANFD - priv->arbi_timing.bitrate = CONFIG_FLEXCAN5_ARBI_BITRATE; - priv->arbi_timing.samplep = CONFIG_FLEXCAN5_ARBI_SAMPLEP; - priv->data_timing.bitrate = CONFIG_FLEXCAN5_DATA_BITRATE; - priv->data_timing.samplep = CONFIG_FLEXCAN5_DATA_SAMPLEP; + priv->arbi_timing.bitrate = CONFIG_FLEXCAN5_ARBI_BITRATE; + priv->arbi_timing.samplep = CONFIG_FLEXCAN5_ARBI_SAMPLEP; + priv->data_timing.bitrate = CONFIG_FLEXCAN5_DATA_BITRATE; + priv->data_timing.samplep = CONFIG_FLEXCAN5_DATA_SAMPLEP; # else - priv->arbi_timing.bitrate = CONFIG_FLEXCAN5_BITRATE; - priv->arbi_timing.samplep = CONFIG_FLEXCAN5_SAMPLEP; + priv->arbi_timing.bitrate = CONFIG_FLEXCAN5_BITRATE; + priv->arbi_timing.samplep = CONFIG_FLEXCAN5_SAMPLEP; # endif - break; + break; #endif - default: - return -ENODEV; + default: + return -ENODEV; } imx9_configure_clock(priv->config->clk_root, true); diff --git a/arch/arm/src/kinetis/kinetis_flexcan.c b/arch/arm/src/kinetis/kinetis_flexcan.c index e36bb9a1949..48db88f287d 100644 --- a/arch/arm/src/kinetis/kinetis_flexcan.c +++ b/arch/arm/src/kinetis/kinetis_flexcan.c @@ -643,12 +643,14 @@ static int kinetis_transmit(struct kinetis_driver_s *priv) #ifdef CONFIG_NET_CAN_RAW_TX_DEADLINE struct timespec ts; + clock_systime_timespec(&ts); if (priv->dev.d_sndlen > priv->dev.d_len) { struct timeval *tv = (struct timeval *)(priv->dev.d_buf + priv->dev.d_len); + priv->txmb[mbi].deadline = *tv; timeout = (tv->tv_sec - ts.tv_sec)*CLK_TCK + ((tv->tv_usec - ts.tv_nsec / 1000)*CLK_TCK) / 1000000; @@ -683,9 +685,11 @@ static int kinetis_transmit(struct kinetis_driver_s *priv) (peak_tx_mailbox_index_ > mbi ? peak_tx_mailbox_index_ : mbi); union cs_e cs; + cs.cs = 0; cs.code = CAN_TXMB_DATAORREMOTE; struct mb_s *mb = &priv->tx[mbi]; + mb->cs.code = CAN_TXMB_INACTIVE; if (priv->dev.d_len == sizeof(struct can_frame)) @@ -1015,6 +1019,7 @@ static void kinetis_txdone(struct kinetis_driver_s *priv) wd_cancel(&priv->txtimeout[mbi]); struct mb_s *mb = &priv->tx[mbi]; + mb->cs.code = CAN_TXMB_INACTIVE; #endif } @@ -1084,6 +1089,7 @@ static int kinetis_flexcan_interrupt(int irq, void *context, if (irq == priv->config->mb_irq) { uint32_t flags; + flags = getreg32(priv->base + KINETIS_CAN_IFLAG1_OFFSET); flags &= IFLAG1_RX; @@ -1141,6 +1147,7 @@ static void kinetis_txtimeout_work(void *arg) struct timespec ts; struct timeval *now = (struct timeval *)&ts; + clock_systime_timespec(&ts); now->tv_usec = ts.tv_nsec / 1000; /* timespec to timeval conversion */ @@ -1166,6 +1173,7 @@ static void kinetis_txtimeout_work(void *arg) } struct mb_s *mb = &priv->tx[mbi]; + mb->cs.code = CAN_TXMB_ABORT; priv->txmb[mbi].pending = TX_ABORT; } @@ -1230,6 +1238,7 @@ static uint32_t kinetis_waitesr2_change(uint32_t base, uint32_t mask, for (wait_ack = 0; wait_ack < timeout; wait_ack++) { uint32_t state = (getreg32(base + KINETIS_CAN_ESR2_OFFSET) & mask); + if (state == target_state) { return true; @@ -1244,6 +1253,7 @@ static uint32_t kinetis_waitesr2_change(uint32_t base, uint32_t mask, static void kinetis_setfreeze(uint32_t base, uint32_t freeze) { uint32_t regval; + if (freeze) { /* Enter freeze mode */ @@ -1272,6 +1282,7 @@ static uint32_t kinetis_waitmcr_change(uint32_t base, uint32_t mask, { const bool state = (getreg32(base + KINETIS_CAN_MCR_OFFSET) & mask) != 0; + if (state == target_state) { return true; @@ -1492,6 +1503,7 @@ static int kinetis_ioctl(struct net_driver_s *dev, int cmd, { struct can_ioctl_data_s *req = (struct can_ioctl_data_s *)((uintptr_t)arg); + req->arbi_bitrate = priv->arbi_timing.bitrate; req->arbi_samplep = priv->arbi_timing.samplep; #ifdef CONFIG_NET_CAN_CANFD @@ -1511,6 +1523,7 @@ static int kinetis_ioctl(struct net_driver_s *dev, int cmd, (struct can_ioctl_data_s *)((uintptr_t)arg); struct flexcan_timeseg arbi_timing; + arbi_timing.bitrate = req->arbi_bitrate; arbi_timing.samplep = req->arbi_samplep; @@ -1525,6 +1538,7 @@ static int kinetis_ioctl(struct net_driver_s *dev, int cmd, #ifdef CONFIG_NET_CAN_CANFD struct flexcan_timeseg data_timing; + data_timing.bitrate = req->data_bitrate; data_timing.samplep = req->data_samplep; @@ -1803,76 +1817,76 @@ int kinetis_caninitialize(int intf) switch (intf) { #ifdef CONFIG_KINETIS_FLEXCAN0 - case 0: - priv = &g_flexcan0; - memset(priv, 0, sizeof(struct kinetis_driver_s)); - priv->base = KINETIS_CAN0_BASE; - priv->config = &kinetis_flexcan0_config; + case 0: + priv = &g_flexcan0; + memset(priv, 0, sizeof(struct kinetis_driver_s)); + priv->base = KINETIS_CAN0_BASE; + priv->config = &kinetis_flexcan0_config; - /* Default bitrate configuration */ + /* Default bitrate configuration */ # ifdef CONFIG_NET_CAN_CANFD - priv->arbi_timing.bitrate = CONFIG_FLEXCAN0_ARBI_BITRATE; - priv->arbi_timing.samplep = CONFIG_FLEXCAN0_ARBI_SAMPLEP; - priv->data_timing.bitrate = CONFIG_FLEXCAN0_DATA_BITRATE; - priv->data_timing.samplep = CONFIG_FLEXCAN0_DATA_SAMPLEP; + priv->arbi_timing.bitrate = CONFIG_FLEXCAN0_ARBI_BITRATE; + priv->arbi_timing.samplep = CONFIG_FLEXCAN0_ARBI_SAMPLEP; + priv->data_timing.bitrate = CONFIG_FLEXCAN0_DATA_BITRATE; + priv->data_timing.samplep = CONFIG_FLEXCAN0_DATA_SAMPLEP; # else - priv->arbi_timing.bitrate = CONFIG_FLEXCAN0_BITRATE; - priv->arbi_timing.samplep = CONFIG_FLEXCAN0_SAMPLEP; + priv->arbi_timing.bitrate = CONFIG_FLEXCAN0_BITRATE; + priv->arbi_timing.samplep = CONFIG_FLEXCAN0_SAMPLEP; # endif - regval = getreg32(KINETIS_SIM_SCGC6); - regval |= SIM_SCGC6_FLEXCAN0; - putreg32(regval, KINETIS_SIM_SCGC6); - break; + regval = getreg32(KINETIS_SIM_SCGC6); + regval |= SIM_SCGC6_FLEXCAN0; + putreg32(regval, KINETIS_SIM_SCGC6); + break; #endif #ifdef CONFIG_KINETIS_FLEXCAN1 - case 1: - priv = &g_flexcan1; - memset(priv, 0, sizeof(struct kinetis_driver_s)); - priv->base = KINETIS_CAN1_BASE; - priv->config = &kinetis_flexcan1_config; + case 1: + priv = &g_flexcan1; + memset(priv, 0, sizeof(struct kinetis_driver_s)); + priv->base = KINETIS_CAN1_BASE; + priv->config = &kinetis_flexcan1_config; - /* Default bitrate configuration */ + /* Default bitrate configuration */ # ifdef CONFIG_NET_CAN_CANFD - priv->arbi_timing.bitrate = CONFIG_FLEXCAN1_ARBI_BITRATE; - priv->arbi_timing.samplep = CONFIG_FLEXCAN1_ARBI_SAMPLEP; - priv->data_timing.bitrate = CONFIG_FLEXCAN1_DATA_BITRATE; - priv->data_timing.samplep = CONFIG_FLEXCAN1_DATA_SAMPLEP; + priv->arbi_timing.bitrate = CONFIG_FLEXCAN1_ARBI_BITRATE; + priv->arbi_timing.samplep = CONFIG_FLEXCAN1_ARBI_SAMPLEP; + priv->data_timing.bitrate = CONFIG_FLEXCAN1_DATA_BITRATE; + priv->data_timing.samplep = CONFIG_FLEXCAN1_DATA_SAMPLEP; # else - priv->arbi_timing.bitrate = CONFIG_FLEXCAN1_BITRATE; - priv->arbi_timing.samplep = CONFIG_FLEXCAN1_SAMPLEP; + priv->arbi_timing.bitrate = CONFIG_FLEXCAN1_BITRATE; + priv->arbi_timing.samplep = CONFIG_FLEXCAN1_SAMPLEP; # endif - regval = getreg32(KINETIS_SIM_SCGC3); - regval |= SIM_SCGC3_FLEXCAN1; - putreg32(regval, KINETIS_SIM_SCGC3); - break; + regval = getreg32(KINETIS_SIM_SCGC3); + regval |= SIM_SCGC3_FLEXCAN1; + putreg32(regval, KINETIS_SIM_SCGC3); + break; #endif #ifdef CONFIG_KINETIS_FLEXCAN2 - case 2: - priv = &g_flexcan2; - memset(priv, 0, sizeof(struct kinetis_driver_s)); - priv->base = KINETIS_CAN2_BASE; - priv->config = &kinetis_flexcan2_config; + case 2: + priv = &g_flexcan2; + memset(priv, 0, sizeof(struct kinetis_driver_s)); + priv->base = KINETIS_CAN2_BASE; + priv->config = &kinetis_flexcan2_config; - /* Default bitrate configuration */ + /* Default bitrate configuration */ # ifdef CONFIG_NET_CAN_CANFD - priv->arbi_timing.bitrate = CONFIG_FLEXCAN2_ARBI_BITRATE; - priv->arbi_timing.samplep = CONFIG_FLEXCAN2_ARBI_SAMPLEP; - priv->data_timing.bitrate = CONFIG_FLEXCAN2_DATA_BITRATE; - priv->data_timing.samplep = CONFIG_FLEXCAN2_DATA_SAMPLEP; + priv->arbi_timing.bitrate = CONFIG_FLEXCAN2_ARBI_BITRATE; + priv->arbi_timing.samplep = CONFIG_FLEXCAN2_ARBI_SAMPLEP; + priv->data_timing.bitrate = CONFIG_FLEXCAN2_DATA_BITRATE; + priv->data_timing.samplep = CONFIG_FLEXCAN2_DATA_SAMPLEP; # else - priv->arbi_timing.bitrate = CONFIG_FLEXCAN2_BITRATE; - priv->arbi_timing.samplep = CONFIG_FLEXCAN2_SAMPLEP; + priv->arbi_timing.bitrate = CONFIG_FLEXCAN2_BITRATE; + priv->arbi_timing.samplep = CONFIG_FLEXCAN2_SAMPLEP; # endif - break; + break; #endif - default: - return -ENODEV; + default: + return -ENODEV; } if (!kinetis_bitratetotimeseg(&priv->arbi_timing, 1, 0)) diff --git a/arch/arm/src/s32k1xx/s32k1xx_flexcan.c b/arch/arm/src/s32k1xx/s32k1xx_flexcan.c index bb124873c61..69061ab5370 100644 --- a/arch/arm/src/s32k1xx/s32k1xx_flexcan.c +++ b/arch/arm/src/s32k1xx/s32k1xx_flexcan.c @@ -645,12 +645,14 @@ static int s32k1xx_transmit(struct s32k1xx_driver_s *priv) #ifdef CONFIG_NET_CAN_RAW_TX_DEADLINE struct timespec ts; + clock_systime_timespec(&ts); if (priv->dev.d_sndlen > priv->dev.d_len) { struct timeval *tv = (struct timeval *)(priv->dev.d_buf + priv->dev.d_len); + priv->txmb[mbi].deadline = *tv; timeout = (tv->tv_sec - ts.tv_sec)*CLK_TCK + ((tv->tv_usec - ts.tv_nsec / 1000)*CLK_TCK) / 1000000; @@ -685,9 +687,11 @@ static int s32k1xx_transmit(struct s32k1xx_driver_s *priv) (peak_tx_mailbox_index_ > mbi ? peak_tx_mailbox_index_ : mbi); union cs_e cs; + cs.cs = 0; cs.code = CAN_TXMB_DATAORREMOTE; struct mb_s *mb = &priv->tx[mbi]; + mb->cs.code = CAN_TXMB_INACTIVE; if (priv->dev.d_len <= sizeof(struct can_frame)) @@ -1019,6 +1023,7 @@ static void s32k1xx_txdone(struct s32k1xx_driver_s *priv) wd_cancel(&priv->txtimeout[mbi]); struct mb_s *mb = &priv->tx[mbi]; + mb->cs.code = CAN_TXMB_INACTIVE; #endif } @@ -1088,6 +1093,7 @@ static int s32k1xx_flexcan_interrupt(int irq, void *context, if (irq == priv->config->mb_irq) { uint32_t flags; + flags = getreg32(priv->base + S32K1XX_CAN_IFLAG1_OFFSET); flags &= IFLAG1_RX; @@ -1145,6 +1151,7 @@ static void s32k1xx_txtimeout_work(void *arg) struct timespec ts; struct timeval *now = (struct timeval *)&ts; + clock_systime_timespec(&ts); now->tv_usec = ts.tv_nsec / 1000; /* timespec to timeval conversion */ @@ -1170,6 +1177,7 @@ static void s32k1xx_txtimeout_work(void *arg) } struct mb_s *mb = &priv->tx[mbi]; + mb->cs.code = CAN_TXMB_ABORT; priv->txmb[mbi].pending = TX_ABORT; } @@ -1229,6 +1237,7 @@ static void s32k1xx_setenable(uint32_t base, uint32_t enable) static void s32k1xx_setfreeze(uint32_t base, uint32_t freeze) { uint32_t regval; + if (freeze) { /* Enter freeze mode */ @@ -1257,6 +1266,7 @@ static uint32_t s32k1xx_waitmcr_change(uint32_t base, uint32_t mask, { const bool state = (getreg32(base + S32K1XX_CAN_MCR_OFFSET) & mask) != 0; + if (state == target_state) { return true; @@ -1475,6 +1485,7 @@ static int s32k1xx_ioctl(struct net_driver_s *dev, int cmd, { struct can_ioctl_data_s *req = (struct can_ioctl_data_s *)((uintptr_t)arg); + req->arbi_bitrate = priv->arbi_timing.bitrate; req->arbi_samplep = priv->arbi_timing.samplep; #ifdef CONFIG_NET_CAN_CANFD @@ -1494,6 +1505,7 @@ static int s32k1xx_ioctl(struct net_driver_s *dev, int cmd, (struct can_ioctl_data_s *)((uintptr_t)arg); struct flexcan_timeseg arbi_timing; + arbi_timing.bitrate = req->arbi_bitrate; arbi_timing.samplep = req->arbi_samplep; @@ -1508,6 +1520,7 @@ static int s32k1xx_ioctl(struct net_driver_s *dev, int cmd, #ifdef CONFIG_NET_CAN_CANFD struct flexcan_timeseg data_timing; + data_timing.bitrate = req->data_bitrate; data_timing.samplep = req->data_samplep; @@ -1794,70 +1807,70 @@ int s32k1xx_caninitialize(int intf) switch (intf) { #ifdef CONFIG_S32K1XX_FLEXCAN0 - case 0: - priv = &g_flexcan0; - memset(priv, 0, sizeof(struct s32k1xx_driver_s)); - priv->base = S32K1XX_FLEXCAN0_BASE; - priv->config = &s32k1xx_flexcan0_config; + case 0: + priv = &g_flexcan0; + memset(priv, 0, sizeof(struct s32k1xx_driver_s)); + priv->base = S32K1XX_FLEXCAN0_BASE; + priv->config = &s32k1xx_flexcan0_config; - /* Default bitrate configuration */ + /* Default bitrate configuration */ # ifdef CONFIG_NET_CAN_CANFD - priv->arbi_timing.bitrate = CONFIG_FLEXCAN0_ARBI_BITRATE; - priv->arbi_timing.samplep = CONFIG_FLEXCAN0_ARBI_SAMPLEP; - priv->data_timing.bitrate = CONFIG_FLEXCAN0_DATA_BITRATE; - priv->data_timing.samplep = CONFIG_FLEXCAN0_DATA_SAMPLEP; + priv->arbi_timing.bitrate = CONFIG_FLEXCAN0_ARBI_BITRATE; + priv->arbi_timing.samplep = CONFIG_FLEXCAN0_ARBI_SAMPLEP; + priv->data_timing.bitrate = CONFIG_FLEXCAN0_DATA_BITRATE; + priv->data_timing.samplep = CONFIG_FLEXCAN0_DATA_SAMPLEP; # else - priv->arbi_timing.bitrate = CONFIG_FLEXCAN0_BITRATE; - priv->arbi_timing.samplep = CONFIG_FLEXCAN0_SAMPLEP; + priv->arbi_timing.bitrate = CONFIG_FLEXCAN0_BITRATE; + priv->arbi_timing.samplep = CONFIG_FLEXCAN0_SAMPLEP; # endif - break; + break; #endif #ifdef CONFIG_S32K1XX_FLEXCAN1 - case 1: - priv = &g_flexcan1; - memset(priv, 0, sizeof(struct s32k1xx_driver_s)); - priv->base = S32K1XX_FLEXCAN1_BASE; - priv->config = &s32k1xx_flexcan1_config; + case 1: + priv = &g_flexcan1; + memset(priv, 0, sizeof(struct s32k1xx_driver_s)); + priv->base = S32K1XX_FLEXCAN1_BASE; + priv->config = &s32k1xx_flexcan1_config; - /* Default bitrate configuration */ + /* Default bitrate configuration */ # ifdef CONFIG_NET_CAN_CANFD - priv->arbi_timing.bitrate = CONFIG_FLEXCAN1_ARBI_BITRATE; - priv->arbi_timing.samplep = CONFIG_FLEXCAN1_ARBI_SAMPLEP; - priv->data_timing.bitrate = CONFIG_FLEXCAN1_DATA_BITRATE; - priv->data_timing.samplep = CONFIG_FLEXCAN1_DATA_SAMPLEP; + priv->arbi_timing.bitrate = CONFIG_FLEXCAN1_ARBI_BITRATE; + priv->arbi_timing.samplep = CONFIG_FLEXCAN1_ARBI_SAMPLEP; + priv->data_timing.bitrate = CONFIG_FLEXCAN1_DATA_BITRATE; + priv->data_timing.samplep = CONFIG_FLEXCAN1_DATA_SAMPLEP; # else - priv->arbi_timing.bitrate = CONFIG_FLEXCAN1_BITRATE; - priv->arbi_timing.samplep = CONFIG_FLEXCAN1_SAMPLEP; + priv->arbi_timing.bitrate = CONFIG_FLEXCAN1_BITRATE; + priv->arbi_timing.samplep = CONFIG_FLEXCAN1_SAMPLEP; # endif - break; + break; #endif #ifdef CONFIG_S32K1XX_FLEXCAN2 - case 2: - priv = &g_flexcan2; - memset(priv, 0, sizeof(struct s32k1xx_driver_s)); - priv->base = S32K1XX_FLEXCAN2_BASE; - priv->config = &s32k1xx_flexcan2_config; + case 2: + priv = &g_flexcan2; + memset(priv, 0, sizeof(struct s32k1xx_driver_s)); + priv->base = S32K1XX_FLEXCAN2_BASE; + priv->config = &s32k1xx_flexcan2_config; - /* Default bitrate configuration */ + /* Default bitrate configuration */ # ifdef CONFIG_NET_CAN_CANFD - priv->arbi_timing.bitrate = CONFIG_FLEXCAN2_ARBI_BITRATE; - priv->arbi_timing.samplep = CONFIG_FLEXCAN2_ARBI_SAMPLEP; - priv->data_timing.bitrate = CONFIG_FLEXCAN2_DATA_BITRATE; - priv->data_timing.samplep = CONFIG_FLEXCAN2_DATA_SAMPLEP; + priv->arbi_timing.bitrate = CONFIG_FLEXCAN2_ARBI_BITRATE; + priv->arbi_timing.samplep = CONFIG_FLEXCAN2_ARBI_SAMPLEP; + priv->data_timing.bitrate = CONFIG_FLEXCAN2_DATA_BITRATE; + priv->data_timing.samplep = CONFIG_FLEXCAN2_DATA_SAMPLEP; # else - priv->arbi_timing.bitrate = CONFIG_FLEXCAN2_BITRATE; - priv->arbi_timing.samplep = CONFIG_FLEXCAN2_SAMPLEP; + priv->arbi_timing.bitrate = CONFIG_FLEXCAN2_BITRATE; + priv->arbi_timing.samplep = CONFIG_FLEXCAN2_SAMPLEP; # endif - break; + break; #endif - default: - return -ENODEV; + default: + return -ENODEV; } if (!s32k1xx_bitratetotimeseg(&priv->arbi_timing, 1, 0)) diff --git a/arch/arm/src/s32k3xx/s32k3xx_flexcan.c b/arch/arm/src/s32k3xx/s32k3xx_flexcan.c index 340acbb5a89..f3deaf6083a 100644 --- a/arch/arm/src/s32k3xx/s32k3xx_flexcan.c +++ b/arch/arm/src/s32k3xx/s32k3xx_flexcan.c @@ -805,12 +805,14 @@ static int s32k3xx_transmit(struct s32k3xx_driver_s *priv) #ifdef CONFIG_NET_CAN_RAW_TX_DEADLINE struct timespec ts; + clock_systime_timespec(&ts); if (priv->dev.d_sndlen > priv->dev.d_len) { struct timeval *tv = (struct timeval *)(priv->dev.d_buf + priv->dev.d_len); + priv->txmb[mbi].deadline = *tv; timeout = (tv->tv_sec - ts.tv_sec)*CLK_TCK + ((tv->tv_usec - ts.tv_nsec / 1000)*CLK_TCK) / 1000000; @@ -845,9 +847,11 @@ static int s32k3xx_transmit(struct s32k3xx_driver_s *priv) (peak_tx_mailbox_index_ > mbi ? peak_tx_mailbox_index_ : mbi); union cs_e cs; + cs.cs = 0; cs.code = CAN_TXMB_DATAORREMOTE; struct mb_s *mb = &priv->tx[mbi]; + mb->cs.code = CAN_TXMB_INACTIVE; if (priv->dev.d_len <= sizeof(struct can_frame)) @@ -1067,7 +1071,7 @@ static void s32k3xx_receive(struct s32k3xx_driver_s *priv, uint32_t flags) else /* CAN 2.0 Frame */ #endif { - struct can_frame *frame = (struct can_frame *)priv->rxdesc; + struct can_frame *frame = (struct can_frame *)priv->rxdesc; if (rf->cs.ide) { @@ -1175,6 +1179,7 @@ static void s32k3xx_txdone(struct s32k3xx_driver_s *priv) wd_cancel(&priv->txtimeout[mbi]); struct mb_s *mb = &priv->tx[mbi]; + mb->cs.code = CAN_TXMB_INACTIVE; #endif } @@ -1243,6 +1248,7 @@ static int s32k3xx_flexcan_interrupt(int irq, void *context, void *arg) if (irq == priv->config->mb_irq) { uint32_t flags; + flags = getreg32(priv->base + S32K3XX_CAN_IFLAG1_OFFSET); flags &= IFLAG1_RX; @@ -1300,6 +1306,7 @@ static void s32k3xx_txtimeout_work(void *arg) struct timespec ts; struct timeval *now = (struct timeval *)&ts; + clock_systime_timespec(&ts); now->tv_usec = ts.tv_nsec / 1000; /* timespec to timeval conversion */ @@ -1325,6 +1332,7 @@ static void s32k3xx_txtimeout_work(void *arg) } struct mb_s *mb = &priv->tx[mbi]; + mb->cs.code = CAN_TXMB_ABORT; priv->txmb[mbi].pending = TX_ABORT; } @@ -1384,6 +1392,7 @@ static void s32k3xx_setenable(uint32_t base, uint32_t enable) static void s32k3xx_setfreeze(uint32_t base, uint32_t freeze) { uint32_t regval; + if (freeze) { /* Enter freeze mode */ @@ -1412,6 +1421,7 @@ static uint32_t s32k3xx_waitmcr_change(uint32_t base, uint32_t mask, { const bool state = (getreg32(base + S32K3XX_CAN_MCR_OFFSET) & mask) != 0; + if (state == target_state) { return true; @@ -1663,6 +1673,7 @@ static int s32k3xx_ioctl(struct net_driver_s *dev, int cmd, { struct can_ioctl_data_s *req = (struct can_ioctl_data_s *)((uintptr_t)arg); + req->arbi_bitrate = priv->arbi_timing.bitrate; req->arbi_samplep = priv->arbi_timing.samplep; #ifdef CONFIG_NET_CAN_CANFD @@ -1682,6 +1693,7 @@ static int s32k3xx_ioctl(struct net_driver_s *dev, int cmd, (struct can_ioctl_data_s *)((uintptr_t)arg); struct flexcan_timeseg arbi_timing; + arbi_timing.bitrate = req->arbi_bitrate; arbi_timing.samplep = req->arbi_samplep; @@ -1697,6 +1709,7 @@ static int s32k3xx_ioctl(struct net_driver_s *dev, int cmd, #ifdef CONFIG_NET_CAN_CANFD struct flexcan_timeseg data_timing; + data_timing.bitrate = req->data_bitrate; data_timing.samplep = req->data_samplep; @@ -2019,139 +2032,139 @@ int s32k3xx_caninitialize(int intf) switch (intf) { #ifdef CONFIG_S32K3XX_FLEXCAN0 - case 0: - priv = &g_flexcan0; - memset(priv, 0, sizeof(struct s32k3xx_driver_s)); - priv->base = S32K3XX_FLEXCAN0_BASE; - priv->config = &s32k3xx_flexcan0_config; - priv->clk_freq = s32k3xx_get_freq(FLEXCAN0_CLK); + case 0: + priv = &g_flexcan0; + memset(priv, 0, sizeof(struct s32k3xx_driver_s)); + priv->base = S32K3XX_FLEXCAN0_BASE; + priv->config = &s32k3xx_flexcan0_config; + priv->clk_freq = s32k3xx_get_freq(FLEXCAN0_CLK); - /* Default bitrate configuration */ + /* Default bitrate configuration */ # ifdef CONFIG_NET_CAN_CANFD - priv->arbi_timing.bitrate = CONFIG_FLEXCAN0_ARBI_BITRATE; - priv->arbi_timing.samplep = CONFIG_FLEXCAN0_ARBI_SAMPLEP; - priv->data_timing.bitrate = CONFIG_FLEXCAN0_DATA_BITRATE; - priv->data_timing.samplep = CONFIG_FLEXCAN0_DATA_SAMPLEP; + priv->arbi_timing.bitrate = CONFIG_FLEXCAN0_ARBI_BITRATE; + priv->arbi_timing.samplep = CONFIG_FLEXCAN0_ARBI_SAMPLEP; + priv->data_timing.bitrate = CONFIG_FLEXCAN0_DATA_BITRATE; + priv->data_timing.samplep = CONFIG_FLEXCAN0_DATA_SAMPLEP; # else - priv->arbi_timing.bitrate = CONFIG_FLEXCAN0_BITRATE; - priv->arbi_timing.samplep = CONFIG_FLEXCAN0_SAMPLEP; + priv->arbi_timing.bitrate = CONFIG_FLEXCAN0_BITRATE; + priv->arbi_timing.samplep = CONFIG_FLEXCAN0_SAMPLEP; # endif - break; + break; #endif #ifdef CONFIG_S32K3XX_FLEXCAN1 - case 1: - priv = &g_flexcan1; - memset(priv, 0, sizeof(struct s32k3xx_driver_s)); - priv->base = S32K3XX_FLEXCAN1_BASE; - priv->config = &s32k3xx_flexcan1_config; - priv->clk_freq = s32k3xx_get_freq(FLEXCAN1_CLK); + case 1: + priv = &g_flexcan1; + memset(priv, 0, sizeof(struct s32k3xx_driver_s)); + priv->base = S32K3XX_FLEXCAN1_BASE; + priv->config = &s32k3xx_flexcan1_config; + priv->clk_freq = s32k3xx_get_freq(FLEXCAN1_CLK); - /* Default bitrate configuration */ + /* Default bitrate configuration */ # ifdef CONFIG_NET_CAN_CANFD - priv->arbi_timing.bitrate = CONFIG_FLEXCAN1_ARBI_BITRATE; - priv->arbi_timing.samplep = CONFIG_FLEXCAN1_ARBI_SAMPLEP; - priv->data_timing.bitrate = CONFIG_FLEXCAN1_DATA_BITRATE; - priv->data_timing.samplep = CONFIG_FLEXCAN1_DATA_SAMPLEP; + priv->arbi_timing.bitrate = CONFIG_FLEXCAN1_ARBI_BITRATE; + priv->arbi_timing.samplep = CONFIG_FLEXCAN1_ARBI_SAMPLEP; + priv->data_timing.bitrate = CONFIG_FLEXCAN1_DATA_BITRATE; + priv->data_timing.samplep = CONFIG_FLEXCAN1_DATA_SAMPLEP; # else - priv->arbi_timing.bitrate = CONFIG_FLEXCAN1_BITRATE; - priv->arbi_timing.samplep = CONFIG_FLEXCAN1_SAMPLEP; + priv->arbi_timing.bitrate = CONFIG_FLEXCAN1_BITRATE; + priv->arbi_timing.samplep = CONFIG_FLEXCAN1_SAMPLEP; # endif - break; + break; #endif #ifdef CONFIG_S32K3XX_FLEXCAN2 - case 2: - priv = &g_flexcan2; - memset(priv, 0, sizeof(struct s32k3xx_driver_s)); - priv->base = S32K3XX_FLEXCAN2_BASE; - priv->config = &s32k3xx_flexcan2_config; - priv->clk_freq = s32k3xx_get_freq(FLEXCAN2_CLK); + case 2: + priv = &g_flexcan2; + memset(priv, 0, sizeof(struct s32k3xx_driver_s)); + priv->base = S32K3XX_FLEXCAN2_BASE; + priv->config = &s32k3xx_flexcan2_config; + priv->clk_freq = s32k3xx_get_freq(FLEXCAN2_CLK); - /* Default bitrate configuration */ + /* Default bitrate configuration */ # ifdef CONFIG_NET_CAN_CANFD - priv->arbi_timing.bitrate = CONFIG_FLEXCAN2_ARBI_BITRATE; - priv->arbi_timing.samplep = CONFIG_FLEXCAN2_ARBI_SAMPLEP; - priv->data_timing.bitrate = CONFIG_FLEXCAN2_DATA_BITRATE; - priv->data_timing.samplep = CONFIG_FLEXCAN2_DATA_SAMPLEP; + priv->arbi_timing.bitrate = CONFIG_FLEXCAN2_ARBI_BITRATE; + priv->arbi_timing.samplep = CONFIG_FLEXCAN2_ARBI_SAMPLEP; + priv->data_timing.bitrate = CONFIG_FLEXCAN2_DATA_BITRATE; + priv->data_timing.samplep = CONFIG_FLEXCAN2_DATA_SAMPLEP; # else - priv->arbi_timing.bitrate = CONFIG_FLEXCAN2_BITRATE; - priv->arbi_timing.samplep = CONFIG_FLEXCAN2_SAMPLEP; + priv->arbi_timing.bitrate = CONFIG_FLEXCAN2_BITRATE; + priv->arbi_timing.samplep = CONFIG_FLEXCAN2_SAMPLEP; # endif - break; + break; #endif #ifdef CONFIG_S32K3XX_FLEXCAN3 - case 3: - priv = &g_flexcan3; - memset(priv, 0, sizeof(struct s32k3xx_driver_s)); - priv->base = S32K3XX_FLEXCAN3_BASE; - priv->config = &s32k3xx_flexcan3_config; - priv->clk_freq = s32k3xx_get_freq(FLEXCAN3_CLK); + case 3: + priv = &g_flexcan3; + memset(priv, 0, sizeof(struct s32k3xx_driver_s)); + priv->base = S32K3XX_FLEXCAN3_BASE; + priv->config = &s32k3xx_flexcan3_config; + priv->clk_freq = s32k3xx_get_freq(FLEXCAN3_CLK); - /* Default bitrate configuration */ + /* Default bitrate configuration */ # ifdef CONFIG_NET_CAN_CANFD - priv->arbi_timing.bitrate = CONFIG_FLEXCAN3_ARBI_BITRATE; - priv->arbi_timing.samplep = CONFIG_FLEXCAN3_ARBI_SAMPLEP; - priv->data_timing.bitrate = CONFIG_FLEXCAN3_DATA_BITRATE; - priv->data_timing.samplep = CONFIG_FLEXCAN3_DATA_SAMPLEP; + priv->arbi_timing.bitrate = CONFIG_FLEXCAN3_ARBI_BITRATE; + priv->arbi_timing.samplep = CONFIG_FLEXCAN3_ARBI_SAMPLEP; + priv->data_timing.bitrate = CONFIG_FLEXCAN3_DATA_BITRATE; + priv->data_timing.samplep = CONFIG_FLEXCAN3_DATA_SAMPLEP; # else - priv->arbi_timing.bitrate = CONFIG_FLEXCAN3_BITRATE; - priv->arbi_timing.samplep = CONFIG_FLEXCAN3_SAMPLEP; + priv->arbi_timing.bitrate = CONFIG_FLEXCAN3_BITRATE; + priv->arbi_timing.samplep = CONFIG_FLEXCAN3_SAMPLEP; # endif - break; + break; #endif #ifdef CONFIG_S32K3XX_FLEXCAN4 - case 4: - priv = &g_flexcan4; - memset(priv, 0, sizeof(struct s32k3xx_driver_s)); - priv->base = S32K3XX_FLEXCAN4_BASE; - priv->config = &s32k3xx_flexcan4_config; - priv->clk_freq = s32k3xx_get_freq(FLEXCAN4_CLK); + case 4: + priv = &g_flexcan4; + memset(priv, 0, sizeof(struct s32k3xx_driver_s)); + priv->base = S32K3XX_FLEXCAN4_BASE; + priv->config = &s32k3xx_flexcan4_config; + priv->clk_freq = s32k3xx_get_freq(FLEXCAN4_CLK); - /* Default bitrate configuration */ + /* Default bitrate configuration */ # ifdef CONFIG_NET_CAN_CANFD - priv->arbi_timing.bitrate = CONFIG_FLEXCAN4_ARBI_BITRATE; - priv->arbi_timing.samplep = CONFIG_FLEXCAN4_ARBI_SAMPLEP; - priv->data_timing.bitrate = CONFIG_FLEXCAN4_DATA_BITRATE; - priv->data_timing.samplep = CONFIG_FLEXCAN4_DATA_SAMPLEP; + priv->arbi_timing.bitrate = CONFIG_FLEXCAN4_ARBI_BITRATE; + priv->arbi_timing.samplep = CONFIG_FLEXCAN4_ARBI_SAMPLEP; + priv->data_timing.bitrate = CONFIG_FLEXCAN4_DATA_BITRATE; + priv->data_timing.samplep = CONFIG_FLEXCAN4_DATA_SAMPLEP; # else - priv->arbi_timing.bitrate = CONFIG_FLEXCAN4_BITRATE; - priv->arbi_timing.samplep = CONFIG_FLEXCAN4_SAMPLEP; + priv->arbi_timing.bitrate = CONFIG_FLEXCAN4_BITRATE; + priv->arbi_timing.samplep = CONFIG_FLEXCAN4_SAMPLEP; # endif - break; + break; #endif #ifdef CONFIG_S32K3XX_FLEXCAN5 - case 5: - priv = &g_flexcan5; - memset(priv, 0, sizeof(struct s32k3xx_driver_s)); - priv->base = S32K3XX_FLEXCAN5_BASE; - priv->config = &s32k3xx_flexcan5_config; - priv->clk_freq = s32k3xx_get_freq(FLEXCAN5_CLK); + case 5: + priv = &g_flexcan5; + memset(priv, 0, sizeof(struct s32k3xx_driver_s)); + priv->base = S32K3XX_FLEXCAN5_BASE; + priv->config = &s32k3xx_flexcan5_config; + priv->clk_freq = s32k3xx_get_freq(FLEXCAN5_CLK); - /* Default bitrate configuration */ + /* Default bitrate configuration */ # ifdef CONFIG_NET_CAN_CANFD - priv->arbi_timing.bitrate = CONFIG_FLEXCAN5_ARBI_BITRATE; - priv->arbi_timing.samplep = CONFIG_FLEXCAN5_ARBI_SAMPLEP; - priv->data_timing.bitrate = CONFIG_FLEXCAN5_DATA_BITRATE; - priv->data_timing.samplep = CONFIG_FLEXCAN5_DATA_SAMPLEP; + priv->arbi_timing.bitrate = CONFIG_FLEXCAN5_ARBI_BITRATE; + priv->arbi_timing.samplep = CONFIG_FLEXCAN5_ARBI_SAMPLEP; + priv->data_timing.bitrate = CONFIG_FLEXCAN5_DATA_BITRATE; + priv->data_timing.samplep = CONFIG_FLEXCAN5_DATA_SAMPLEP; # else - priv->arbi_timing.bitrate = CONFIG_FLEXCAN5_BITRATE; - priv->arbi_timing.samplep = CONFIG_FLEXCAN5_SAMPLEP; + priv->arbi_timing.bitrate = CONFIG_FLEXCAN5_BITRATE; + priv->arbi_timing.samplep = CONFIG_FLEXCAN5_SAMPLEP; # endif - break; + break; #endif - default: - return -ENODEV; + default: + return -ENODEV; } if (!s32k3xx_bitratetotimeseg(&priv->arbi_timing, 1, 0, priv->clk_freq)) @@ -2187,7 +2200,7 @@ int s32k3xx_caninitialize(int intf) /* Attach the flexcan interrupt handler */ if (priv->config->bus_irq > 0) - { + { if (irq_attach(priv->config->bus_irq, s32k3xx_flexcan_interrupt, priv)) { /* We could not attach the ISR to the interrupt */ @@ -2195,10 +2208,10 @@ int s32k3xx_caninitialize(int intf) nerr("ERROR: Failed to attach CAN bus IRQ\n"); return -EAGAIN; } - } + } if (priv->config->error_irq > 0) - { + { if (irq_attach(priv->config->error_irq, s32k3xx_flexcan_interrupt, priv)) { @@ -2207,7 +2220,7 @@ int s32k3xx_caninitialize(int intf) nerr("ERROR: Failed to attach CAN error IRQ\n"); return -EAGAIN; } - } + } if (priv->config->lprx_irq > 0) { diff --git a/arch/arm/src/stm32h7/stm32_fdcan_sock.c b/arch/arm/src/stm32h7/stm32_fdcan_sock.c index e8e0ea6bc77..1ae369be865 100644 --- a/arch/arm/src/stm32h7/stm32_fdcan_sock.c +++ b/arch/arm/src/stm32h7/stm32_fdcan_sock.c @@ -518,6 +518,7 @@ static void fdcan_dumpregs(struct fdcan_driver_s *priv) printf("CAN%d Base: 0x%lx\n", priv->iface_idx, priv->base); uint32_t regval; + regval = getreg32(priv->base + STM32_FDCAN_CCCR_OFFSET); printf("CCCR = 0x%lx\n", regval); regval = getreg32(priv->base + STM32_FDCAN_ECR_OFFSET); @@ -721,6 +722,7 @@ static bool fdcan_txringfull(struct fdcan_driver_s *priv) */ uint32_t regval = getreg32(priv->base + STM32_FDCAN_TXBC_OFFSET); + if ((regval & FDCAN_TXBC_TFQS) == 0) { nerr("No Tx FIFO buffers assigned? Check your message RAM config\n"); @@ -765,6 +767,7 @@ static int fdcan_transmit(struct fdcan_driver_s *priv) /* First, check if there are any slots available in the queue */ uint32_t regval = getreg32(priv->base + STM32_FDCAN_TXFQS_OFFSET); + if ((regval & FDCAN_TXFQS_TFQF) == FDCAN_TXFQS_TFQF) { /* Tx FIFO / Queue is full */ @@ -795,6 +798,7 @@ static int fdcan_transmit(struct fdcan_driver_s *priv) #ifdef CONFIG_NET_CAN_RAW_TX_DEADLINE int32_t timeout = 0; struct timespec ts; + clock_systime_timespec(&ts); if (priv->dev.d_sndlen > priv->dev.d_len) @@ -803,6 +807,7 @@ static int fdcan_transmit(struct fdcan_driver_s *priv) struct timeval *tv = (struct timeval *)(priv->dev.d_buf + priv->dev.d_len); + priv->txmb[mbi].deadline = *tv; timeout = (tv->tv_sec - ts.tv_sec)*CLK_TCK + ((tv->tv_usec - ts.tv_nsec / 1000)*CLK_TCK) / 1000000; @@ -1251,13 +1256,13 @@ static void fdcan_receive_work(void *arg) fdcan_check_errors(priv); #ifdef CONFIG_NET_CAN_ERRORS - uint32_t regval; + uint32_t regval; - /* Turning back on all configured RX error interrupts */ + /* Turning back on all configured RX error interrupts */ - regval = getreg32(priv->base + STM32_FDCAN_IE_OFFSET); - regval |= FDCAN_RXERR_INTS; - putreg32(regval, priv->base + STM32_FDCAN_IE_OFFSET); + regval = getreg32(priv->base + STM32_FDCAN_IE_OFFSET); + regval |= FDCAN_RXERR_INTS; + putreg32(regval, priv->base + STM32_FDCAN_IE_OFFSET); #endif leave_critical_section(flags); @@ -1285,6 +1290,7 @@ static void fdcan_txdone(struct fdcan_driver_s *priv) /* Read and reset the interrupt flag */ uint32_t ir = getreg32(priv->base + STM32_FDCAN_IR_OFFSET); + if (ir & FDCAN_IR_TC) { putreg32(FDCAN_IR_TC, priv->base + STM32_FDCAN_IR_OFFSET); @@ -1524,6 +1530,7 @@ static void fdcan_txtimeout_work(void *arg) struct timespec ts; struct timeval *now = (struct timeval *)&ts; + clock_systime_timespec(&ts); now->tv_usec = ts.tv_nsec / 1000; /* timespec to timeval conversion */ @@ -1697,9 +1704,11 @@ static bool fdcan_waitccr_change(uint32_t base, uint32_t mask, uint32_t target_state) { const unsigned timeout = 1000; + for (unsigned wait_ack = 0; wait_ack < timeout; wait_ack++) { const bool state = (getreg32(base + STM32_FDCAN_CCCR_OFFSET) & mask); + if (state == target_state) { return true; @@ -1730,6 +1739,7 @@ static void fdcan_enable_interrupts(struct fdcan_driver_s *priv) /* Enable both interrupt lines at the device level */ const uint32_t ile = FDCAN_ILE_EINT0 | FDCAN_ILE_EINT1; + modifyreg32(priv->base + STM32_FDCAN_ILE_OFFSET, 0, ile); /* Enable both lines at the NVIC level */ @@ -1762,6 +1772,7 @@ static void fdcan_disable_interrupts(struct fdcan_driver_s *priv) /* Disable both interrupt lines at the device level */ const uint32_t ile = FDCAN_ILE_EINT0 | FDCAN_ILE_EINT1; + modifyreg32(priv->base + STM32_FDCAN_ILE_OFFSET, ile, 0); } @@ -1961,6 +1972,7 @@ static int fdcan_netdev_ioctl(struct net_driver_s *dev, int cmd, { struct can_ioctl_data_s *req = (struct can_ioctl_data_s *)((uintptr_t)arg); + req->arbi_bitrate = priv->arbi_timing.bitrate; #ifdef CONFIG_NET_CAN_CANFD req->data_bitrate = priv->data_timing.bitrate; @@ -2060,6 +2072,7 @@ int fdcan_initialize(struct fdcan_driver_s *priv) #ifdef CONFIG_STM32_FDCAN_REGDEBUG const struct fdcan_bitseg *tim = &priv->arbi_timing; + ninfo("[fdcan][arbi] Timings: presc=%u sjw=%u bs1=%u bs2=%u\r\n", tim->prescaler, tim->sjw, tim->bs1, tim->bs2); #endif @@ -2210,6 +2223,7 @@ int fdcan_initialize(struct fdcan_driver_s *priv) /* Standard ID Filters: Allow space for 128 filters (128 words) */ const uint8_t n_stdid = 128; + priv->message_ram.filt_stdid_addr = gl_ram_base + ram_offset * WORD_LENGTH; regval = (n_stdid << FDCAN_SIDFC_LSS_SHIFT) & FDCAN_SIDFC_LSS_MASK; @@ -2237,6 +2251,7 @@ int fdcan_initialize(struct fdcan_driver_s *priv) */ const uint8_t n_extid = 128; + priv->message_ram.filt_extid_addr = gl_ram_base + ram_offset * WORD_LENGTH; regval = (n_extid << FDCAN_XIDFC_LSE_SHIFT) & FDCAN_XIDFC_LSE_MASK; @@ -2425,64 +2440,64 @@ int stm32_fdcansockinitialize(int intf) switch (intf) { #ifdef CONFIG_STM32_FDCAN1 - case 0: - priv = &g_fdcan0; - memset(priv, 0, sizeof(struct fdcan_driver_s)); - priv->base = STM32_FDCAN1_BASE; - priv->iface_idx = 0; - priv->config = &stm32_fdcan0_config; + case 0: + priv = &g_fdcan0; + memset(priv, 0, sizeof(struct fdcan_driver_s)); + priv->base = STM32_FDCAN1_BASE; + priv->iface_idx = 0; + priv->config = &stm32_fdcan0_config; - /* Default bitrate configuration */ + /* Default bitrate configuration */ # ifdef CONFIG_NET_CAN_CANFD - priv->arbi_timing.bitrate = CONFIG_FDCAN1_ARBI_BITRATE; - priv->data_timing.bitrate = CONFIG_FDCAN1_DATA_BITRATE; + priv->arbi_timing.bitrate = CONFIG_FDCAN1_ARBI_BITRATE; + priv->data_timing.bitrate = CONFIG_FDCAN1_DATA_BITRATE; # else - priv->arbi_timing.bitrate = CONFIG_FDCAN1_BITRATE; + priv->arbi_timing.bitrate = CONFIG_FDCAN1_BITRATE; # endif - break; + break; #endif #ifdef CONFIG_STM32_FDCAN2 - case 1: - priv = &g_fdcan1; - memset(priv, 0, sizeof(struct fdcan_driver_s)); - priv->base = STM32_FDCAN2_BASE; - priv->iface_idx = 1; - priv->config = &stm32_fdcan1_config; + case 1: + priv = &g_fdcan1; + memset(priv, 0, sizeof(struct fdcan_driver_s)); + priv->base = STM32_FDCAN2_BASE; + priv->iface_idx = 1; + priv->config = &stm32_fdcan1_config; - /* Default bitrate configuration */ + /* Default bitrate configuration */ # ifdef CONFIG_NET_CAN_CANFD - priv->arbi_timing.bitrate = CONFIG_FDCAN2_ARBI_BITRATE; - priv->data_timing.bitrate = CONFIG_FDCAN2_DATA_BITRATE; + priv->arbi_timing.bitrate = CONFIG_FDCAN2_ARBI_BITRATE; + priv->data_timing.bitrate = CONFIG_FDCAN2_DATA_BITRATE; # else - priv->arbi_timing.bitrate = CONFIG_FDCAN2_BITRATE; + priv->arbi_timing.bitrate = CONFIG_FDCAN2_BITRATE; # endif - break; + break; #endif #ifdef CONFIG_STM32_FDCAN3 - case 2: - priv = &g_fdcan2; - memset(priv, 0, sizeof(struct fdcan_driver_s)); - priv->base = STM32_FDCAN3_BASE; - priv->iface_idx = 2; - priv->config = &stm32_fdcan2_config; + case 2: + priv = &g_fdcan2; + memset(priv, 0, sizeof(struct fdcan_driver_s)); + priv->base = STM32_FDCAN3_BASE; + priv->iface_idx = 2; + priv->config = &stm32_fdcan2_config; - /* Default bitrate configuration */ + /* Default bitrate configuration */ # ifdef CONFIG_NET_CAN_CANFD - priv->arbi_timing.bitrate = CONFIG_FDCAN3_ARBI_BITRATE; - priv->data_timing.bitrate = CONFIG_FDCAN3_DATA_BITRATE; + priv->arbi_timing.bitrate = CONFIG_FDCAN3_ARBI_BITRATE; + priv->data_timing.bitrate = CONFIG_FDCAN3_DATA_BITRATE; # else - priv->arbi_timing.bitrate = CONFIG_FDCAN3_BITRATE; + priv->arbi_timing.bitrate = CONFIG_FDCAN3_BITRATE; # endif - break; + break; #endif - default: - return -ENODEV; + default: + return -ENODEV; } if (fdcan_bittiming(&priv->arbi_timing) != OK) diff --git a/arch/arm64/src/imx9/imx9_flexcan.c b/arch/arm64/src/imx9/imx9_flexcan.c index 620dc5c6f8e..7ca08ee1b84 100644 --- a/arch/arm64/src/imx9/imx9_flexcan.c +++ b/arch/arm64/src/imx9/imx9_flexcan.c @@ -594,6 +594,7 @@ static bool imx9_txringfull(struct imx9_driver_s *priv) for (mbi = RXMBCOUNT; mbi < TOTALMBCOUNT; mbi++) { volatile struct mb_s *mb = flexcan_get_mb(priv, mbi); + if (CAN_MB_CS_CODE(mb->cs) != CAN_TXMB_DATAORREMOTE) { return false; @@ -662,6 +663,7 @@ static int imx9_transmit(struct imx9_driver_s *priv) #ifdef CONFIG_NET_CAN_RAW_TX_DEADLINE struct timespec ts; + clock_systime_timespec(&ts); if (priv->dev.d_sndlen > priv->dev.d_len) @@ -702,6 +704,7 @@ static int imx9_transmit(struct imx9_driver_s *priv) if (priv->dev.d_len == sizeof(struct can_frame)) { struct can_frame *frame = (struct can_frame *)priv->dev.d_buf; + can_id = frame->can_id; len = 8; can_dlc = frame->can_dlc; @@ -711,6 +714,7 @@ static int imx9_transmit(struct imx9_driver_s *priv) else { struct canfd_frame *frame = (struct canfd_frame *)priv->dev.d_buf; + cs |= CAN_MB_CS_EDL; cs |= frame->flags & CANFD_BRS ? CAN_MB_CS_BRS : 0; can_id = frame->can_id; @@ -898,6 +902,7 @@ static void imx9_receive(struct imx9_driver_s *priv) size_t frame_len; uint32_t flags = getreg32(priv->base + IMX9_CAN_IFLAG1_OFFSET); + flags &= IFLAG1_RX; while (flags != 0) @@ -1278,6 +1283,7 @@ static void imx9_txtimeout_work(void *arg) volatile struct mb_s *mb; struct timespec ts; struct timeval *now = (struct timeval *)&ts; + clock_systime_timespec(&ts); now->tv_usec = ts.tv_nsec / 1000; /* timespec to timeval conversion */ @@ -1613,6 +1619,7 @@ static int imx9_ioctl(struct net_driver_s *dev, int cmd, struct imx9_driver_s *priv = (struct imx9_driver_s *)dev; struct can_ioctl_data_s *req = (struct can_ioctl_data_s *)((uintptr_t)arg); + req->arbi_bitrate = priv->arbi_timing.bitrate; req->arbi_samplep = priv->arbi_timing.samplep; if (priv->canfd_capable) @@ -1654,9 +1661,9 @@ static int imx9_ioctl(struct net_driver_s *dev, int cmd, priv->arbi_timing = arbi_timing; if (priv->canfd_capable) - { - priv->data_timing = data_timing; - } + { + priv->data_timing = data_timing; + } } } break; @@ -1666,12 +1673,13 @@ static int imx9_ioctl(struct net_driver_s *dev, int cmd, struct imx9_driver_s *priv = (struct imx9_driver_s *)dev; struct can_ioctl_filter_s *req = (struct can_ioctl_filter_s *)((uintptr_t)arg); + if (!req) { return -EINVAL; } - ret = imx9_add_filter(priv, req->ftype, 0, req->fid1, req->fid2); + ret = imx9_add_filter(priv, req->ftype, 0, req->fid1, req->fid2); } break; @@ -1680,12 +1688,13 @@ static int imx9_ioctl(struct net_driver_s *dev, int cmd, struct imx9_driver_s *priv = (struct imx9_driver_s *)dev; struct can_ioctl_filter_s *req = (struct can_ioctl_filter_s *)((uintptr_t)arg); + if (!req) { return -EINVAL; } - ret = imx9_add_filter(priv, req->ftype, 1, req->fid1, req->fid2); + ret = imx9_add_filter(priv, req->ftype, 1, req->fid1, req->fid2); } break; @@ -1693,6 +1702,7 @@ static int imx9_ioctl(struct net_driver_s *dev, int cmd, case SIOCDCANEXTFILTER: /* Reset EXT ID CAN filter */ { struct imx9_driver_s *priv = (struct imx9_driver_s *)dev; + ret = imx9_reset_filter(priv); } break; @@ -2214,23 +2224,23 @@ int imx9_caninitialize(int intf) switch (intf) { #ifdef CONFIG_IMX9_FLEXCAN1 - case 1: - imx9_ccm_configure_root_clock(CCM_CR_CAN1, SYS_PLL1PFD1DIV2, 5); - imx9_ccm_gate_on(CCM_LPCG_CAN1, true); - priv = &g_flexcan1; - break; + case 1: + imx9_ccm_configure_root_clock(CCM_CR_CAN1, SYS_PLL1PFD1DIV2, 5); + imx9_ccm_gate_on(CCM_LPCG_CAN1, true); + priv = &g_flexcan1; + break; #endif #ifdef CONFIG_IMX9_FLEXCAN2 - case 2: - imx9_ccm_configure_root_clock(CCM_CR_CAN2, SYS_PLL1PFD1DIV2, 5); - imx9_ccm_gate_on(CCM_LPCG_CAN2, true); - priv = &g_flexcan2; - break; + case 2: + imx9_ccm_configure_root_clock(CCM_CR_CAN2, SYS_PLL1PFD1DIV2, 5); + imx9_ccm_gate_on(CCM_LPCG_CAN2, true); + priv = &g_flexcan2; + break; #endif - default: - return -ENODEV; + default: + return -ENODEV; } /* Get and store the clock (should be 80 MHz now) */ diff --git a/arch/risc-v/src/mpfs/mpfs_can.c b/arch/risc-v/src/mpfs/mpfs_can.c index faa0c6d4eaf..e8e814526ee 100644 --- a/arch/risc-v/src/mpfs/mpfs_can.c +++ b/arch/risc-v/src/mpfs/mpfs_can.c @@ -1371,6 +1371,7 @@ static void mpfs_can_set_int_ebl(mpfs_can_instance_t *priv, uint32_t flag) { uint32_t reg = mpfs_can_get_int_ebl(priv); + putreg32(reg | flag, priv->reg_base + MPFS_CAN_INT_ENABLE_OFFSET); } @@ -1414,6 +1415,7 @@ static void mpfs_can_clear_int_ebl(mpfs_can_instance_t *priv, uint32_t flag) { uint32_t reg = mpfs_can_get_int_ebl(priv); + putreg32(reg & ~flag, priv->reg_base + MPFS_CAN_INT_ENABLE_OFFSET); } @@ -1530,6 +1532,7 @@ static uint32_t mpfs_can_get_int_status(mpfs_can_instance_t *priv) static uint8_t mpfs_can_get_error_status(mpfs_can_instance_t *priv) { uint32_t reg = getreg32(priv->reg_base + MPFS_CAN_ERROR_STATUS_OFFSET); + reg = ((reg & MPFS_CAN_ERROR_STATUS_ERROR_STATE) >> MPFS_CAN_ERROR_STATUS_ERROR_STATE_SHIFT); return (uint8_t)reg; @@ -1760,12 +1763,14 @@ static uint8_t mpfs_can_set_bitrate(mpfs_can_instance_t *priv, static uint32_t mpfs_can_get_sample_point(mpfs_can_instance_t *priv) { uint32_t reg; + reg = getreg32(priv->reg_base + MPFS_CAN_CAN_CONFIG_OFFSET); uint32_t tseg1 = ((reg & MPFS_CAN_CAN_CONFIG_CFG_TSEG1) >> MPFS_CAN_CAN_CONFIG_CFG_TSEG1_SHIFT) + 1; uint32_t tseg2 = ((reg & MPFS_CAN_CAN_CONFIG_CFG_TSEG2) >> MPFS_CAN_CAN_CONFIG_CFG_TSEG2_SHIFT) + 1; const uint32_t sync_seg = 1; + return (sync_seg + tseg1) * 100 / (sync_seg + tseg1 + tseg2); } #endif @@ -1838,7 +1843,7 @@ static uint8_t mpfs_can_config_buffer(mpfs_can_instance_t *priv) mpfs_can_config_buffer_n(priv, buffer_number, &canrxobj); } - success = CAN_OK; + success = CAN_OK; } return success; @@ -1945,6 +1950,7 @@ mpfs_can_get_rx_buffer_status(mpfs_can_instance_t *priv) static uint32_t mpfs_can_get_rx_error_count(mpfs_can_instance_t *priv) { uint32_t reg = getreg32(priv->reg_base + MPFS_CAN_ERROR_STATUS_OFFSET); + reg = ((reg & MPFS_CAN_ERROR_STATUS_RX_ERR_CNT) >> MPFS_CAN_ERROR_STATUS_RX_ERR_CNT_SHIFT); return reg; @@ -1976,6 +1982,7 @@ static uint32_t mpfs_can_get_rx_error_count(mpfs_can_instance_t *priv) static inline bool mpfs_can_get_rx_gte96(mpfs_can_instance_t *priv) { uint32_t reg = getreg32(priv->reg_base + MPFS_CAN_ERROR_STATUS_OFFSET); + reg &= MPFS_CAN_ERROR_STATUS_RXGTE96; return (bool)reg; } @@ -2088,6 +2095,7 @@ static uint32_t mpfs_can_get_tx_buffer_status(mpfs_can_instance_t *priv) static uint32_t mpfs_can_get_tx_error_count(mpfs_can_instance_t *priv) { uint32_t reg = getreg32(priv->reg_base + MPFS_CAN_ERROR_STATUS_OFFSET); + reg = ((reg & MPFS_CAN_ERROR_STATUS_TX_ERR_CNT) >> MPFS_CAN_ERROR_STATUS_TX_ERR_CNT_SHIFT); return reg; @@ -2119,6 +2127,7 @@ static uint32_t mpfs_can_get_tx_error_count(mpfs_can_instance_t *priv) static inline bool mpfs_can_get_tx_gte96(mpfs_can_instance_t *priv) { uint32_t reg = getreg32(priv->reg_base + MPFS_CAN_ERROR_STATUS_OFFSET); + reg &= MPFS_CAN_ERROR_STATUS_TXGTE96; return (bool)reg; } @@ -2308,70 +2317,71 @@ static int mpfs_ioctl(struct netdev_lowerhalf_s *dev, int cmd, switch (cmd) { #ifdef CONFIG_NETDEV_CAN_IOCTL - case SIOCGCANBITRATE: - - /* Get bitrate from the CAN controller */ - - { - struct can_ioctl_data_s *req = - (struct can_ioctl_data_s *)((uintptr_t)arg); - req->arbi_bitrate = priv->bitrate_value; - req->arbi_samplep = mpfs_can_get_sample_point(priv); - ret = CAN_OK; - } - break; - - case SIOCSCANBITRATE: - - /* Set bitrate of the CAN controller */ - - { - struct can_ioctl_data_s *req = - (struct can_ioctl_data_s *)((uintptr_t)arg); - - if (CAN_OK != mpfs_can_set_bitrate(priv, req->arbi_bitrate)) - { - nerr("CAN controller bitrate set failed"); - ret = -EAGAIN; - break; - } - - ret = CAN_OK; - } - break; - - case SIOCACANSTDFILTER: - case SIOCACANEXTFILTER: - - { - struct can_ioctl_filter_s *req = - (struct can_ioctl_filter_s *)((uintptr_t)arg); - - if (CAN_OK != mpfs_can_add_filter(priv, req->ftype, - req->fid1, req->fid2)) - { - nerr("CAN filter add failed"); - ret = -EINVAL; - break; - } - - ret = CAN_OK; - } - break; - - case SIOCDCANSTDFILTER: - case SIOCDCANEXTFILTER: - - { - mpfs_can_reset_filter(priv); - ret = CAN_OK; - } - break; + case SIOCGCANBITRATE: + + /* Get bitrate from the CAN controller */ + + { + struct can_ioctl_data_s *req = + (struct can_ioctl_data_s *)((uintptr_t)arg); + + req->arbi_bitrate = priv->bitrate_value; + req->arbi_samplep = mpfs_can_get_sample_point(priv); + ret = CAN_OK; + } + break; + + case SIOCSCANBITRATE: + + /* Set bitrate of the CAN controller */ + + { + struct can_ioctl_data_s *req = + (struct can_ioctl_data_s *)((uintptr_t)arg); + + if (CAN_OK != mpfs_can_set_bitrate(priv, req->arbi_bitrate)) + { + nerr("CAN controller bitrate set failed"); + ret = -EAGAIN; + break; + } + + ret = CAN_OK; + } + break; + + case SIOCACANSTDFILTER: + case SIOCACANEXTFILTER: + + { + struct can_ioctl_filter_s *req = + (struct can_ioctl_filter_s *)((uintptr_t)arg); + + if (CAN_OK != mpfs_can_add_filter(priv, req->ftype, + req->fid1, req->fid2)) + { + nerr("CAN filter add failed"); + ret = -EINVAL; + break; + } + + ret = CAN_OK; + } + break; + + case SIOCDCANSTDFILTER: + case SIOCDCANEXTFILTER: + + { + mpfs_can_reset_filter(priv); + ret = CAN_OK; + } + break; #endif /* CONFIG_NETDEV_CAN_IOCTL */ - default: - ret = -ENOTTY; - break; + default: + ret = -ENOTTY; + break; } return ret; diff --git a/net/can/can_callback.c b/net/can/can_callback.c index 667f1061496..b06302e0e6c 100644 --- a/net/can/can_callback.c +++ b/net/can/can_callback.c @@ -127,28 +127,28 @@ uint32_t can_callback(FAR struct net_driver_s *dev, if (conn) { #ifdef CONFIG_NET_TIMESTAMP - /* TIMESTAMP sockopt is activated, - * create timestamp and copy to iob - */ + /* TIMESTAMP sockopt is activated, + * create timestamp and copy to iob + */ + + if (_SO_GETOPT(conn->sconn.s_options, SO_TIMESTAMP) && + (dev->d_iob != NULL)) + { + struct timeval tv; + FAR struct timespec *ts = (FAR struct timespec *)&tv; + int len; - if (_SO_GETOPT(conn->sconn.s_options, SO_TIMESTAMP) && - (dev->d_iob != NULL)) + clock_systime_timespec(ts); + tv.tv_usec = ts->tv_nsec / 1000; + + len = iob_trycopyin(dev->d_iob, (FAR uint8_t *)&tv, + sizeof(struct timeval), + -CONFIG_NET_LL_GUARDSIZE, false); + if (len == sizeof(struct timeval)) { - struct timeval tv; - FAR struct timespec *ts = (FAR struct timespec *)&tv; - int len; - - clock_systime_timespec(ts); - tv.tv_usec = ts->tv_nsec / 1000; - - len = iob_trycopyin(dev->d_iob, (FAR uint8_t *)&tv, - sizeof(struct timeval), - -CONFIG_NET_LL_GUARDSIZE, false); - if (len == sizeof(struct timeval)) - { - dev->d_len += len; - } + dev->d_len += len; } + } #endif conn_lock(&conn->sconn); diff --git a/net/netdev/netdev_ioctl.c b/net/netdev/netdev_ioctl.c index 64b6a04f3cd..4f6610f4396 100644 --- a/net/netdev/netdev_ioctl.c +++ b/net/netdev/netdev_ioctl.c @@ -270,6 +270,7 @@ static void ioctl_get_ipv4addr(FAR struct sockaddr *outaddr, in_addr_t inaddr) { FAR struct sockaddr_in *dest = (FAR struct sockaddr_in *)outaddr; + dest->sin_family = AF_INET; dest->sin_port = 0; dest->sin_addr.s_addr = inaddr; @@ -295,6 +296,7 @@ static void ioctl_get_ipv4broadcast(FAR struct sockaddr *outaddr, in_addr_t inaddr, in_addr_t netmask) { FAR struct sockaddr_in *dest = (FAR struct sockaddr_in *)outaddr; + dest->sin_family = AF_INET; dest->sin_port = 0; dest->sin_addr.s_addr = net_ipv4addr_broadcast(inaddr, netmask); @@ -319,6 +321,7 @@ static void ioctl_get_ipv6addr(FAR struct sockaddr_storage *outaddr, FAR const net_ipv6addr_t inaddr) { FAR struct sockaddr_in6 *dest = (FAR struct sockaddr_in6 *)outaddr; + dest->sin6_family = AF_INET6; dest->sin6_port = 0; memcpy(dest->sin6_addr.in6_u.u6_addr8, inaddr, 16); @@ -343,6 +346,7 @@ static void ioctl_set_ipv4addr(FAR in_addr_t *outaddr, FAR const struct sockaddr *inaddr) { FAR const struct sockaddr_in *src = (FAR const struct sockaddr_in *)inaddr; + *outaddr = src->sin_addr.s_addr; } #endif @@ -366,6 +370,7 @@ static void ioctl_set_ipv6addr(FAR net_ipv6addr_t outaddr, { FAR const struct sockaddr_in6 *src = (FAR const struct sockaddr_in6 *)inaddr; + memcpy(outaddr, src->sin6_addr.in6_u.u6_addr8, 16); } #endif @@ -854,6 +859,7 @@ static int netdev_ifr_ioctl(FAR struct socket *psock, int cmd, case SIOCSIFNAME: /* Set interface name */ { FAR struct net_driver_s *tmpdev; + tmpdev = netdev_findbyindex(req->ifr_ifindex); if (tmpdev != NULL) { @@ -869,6 +875,7 @@ static int netdev_ifr_ioctl(FAR struct socket *psock, int cmd, case SIOCGIFNAME: /* Get interface name */ { FAR struct net_driver_s *tmpdev; + tmpdev = netdev_findbyindex(req->ifr_ifindex); if (tmpdev != NULL) { @@ -898,6 +905,7 @@ static int netdev_ifr_ioctl(FAR struct socket *psock, int cmd, == (ssize_t)sizeof(struct in6_ifreq)) { FAR struct in6_ifreq *ifr6 = (FAR struct in6_ifreq *)req; + dev = netdev_findbyindex(ifr6->ifr6_ifindex); } @@ -954,6 +962,7 @@ static int netdev_ifr_ioctl(FAR struct socket *psock, int cmd, case SIOCGLIFADDR: /* Get IP address */ { FAR struct lifreq *lreq = (FAR struct lifreq *)req; + idx = MIN(idx, CONFIG_NETDEV_MAX_IPv6_ADDR - 1); ioctl_get_ipv6addr(&lreq->lifr_addr, dev->d_ipv6[idx].addr); } @@ -962,6 +971,7 @@ static int netdev_ifr_ioctl(FAR struct socket *psock, int cmd, case SIOCSLIFADDR: /* Set IP address */ { FAR struct lifreq *lreq = (FAR struct lifreq *)req; + idx = MIN(idx, CONFIG_NETDEV_MAX_IPv6_ADDR - 1); netdev_ipv6_removemcastmac(dev, dev->d_ipv6[idx].addr); @@ -976,6 +986,7 @@ static int netdev_ifr_ioctl(FAR struct socket *psock, int cmd, case SIOCGLIFDSTADDR: /* Get P-to-P address */ { FAR struct lifreq *lreq = (FAR struct lifreq *)req; + ioctl_get_ipv6addr(&lreq->lifr_dstaddr, dev->d_ipv6draddr); } break; @@ -983,6 +994,7 @@ static int netdev_ifr_ioctl(FAR struct socket *psock, int cmd, case SIOCSLIFDSTADDR: /* Set P-to-P address */ { FAR struct lifreq *lreq = (FAR struct lifreq *)req; + ioctl_set_ipv6addr(dev->d_ipv6draddr, &lreq->lifr_dstaddr); } break; @@ -995,6 +1007,7 @@ static int netdev_ifr_ioctl(FAR struct socket *psock, int cmd, case SIOCGLIFNETMASK: /* Get network mask */ { FAR struct lifreq *lreq = (FAR struct lifreq *)req; + idx = MIN(idx, CONFIG_NETDEV_MAX_IPv6_ADDR - 1); ioctl_get_ipv6addr(&lreq->lifr_addr, dev->d_ipv6[idx].mask); } @@ -1003,6 +1016,7 @@ static int netdev_ifr_ioctl(FAR struct socket *psock, int cmd, case SIOCSLIFNETMASK: /* Set network mask */ { FAR struct lifreq *lreq = (FAR struct lifreq *)req; + idx = MIN(idx, CONFIG_NETDEV_MAX_IPv6_ADDR - 1); ioctl_set_ipv6addr(dev->d_ipv6[idx].mask, &lreq->lifr_addr); } @@ -1176,6 +1190,7 @@ static int netdev_ifr_ioctl(FAR struct socket *psock, int cmd, if (psock->s_domain == PF_INET6) { FAR struct in6_ifreq *ifr6 = (FAR struct in6_ifreq *)req; + ret = netdev_ipv6_add(dev, ifr6->ifr6_addr.in6_u.u6_addr16, ifr6->ifr6_prefixlen); if (ret == OK) @@ -1201,6 +1216,7 @@ static int netdev_ifr_ioctl(FAR struct socket *psock, int cmd, if (psock->s_domain == PF_INET6) { FAR struct in6_ifreq *ifr6 = (FAR struct in6_ifreq *)req; + ret = netdev_ipv6_del(dev, ifr6->ifr6_addr.in6_u.u6_addr16, ifr6->ifr6_prefixlen); if (ret == OK) @@ -1219,6 +1235,7 @@ static int netdev_ifr_ioctl(FAR struct socket *psock, int cmd, { FAR struct mii_ioctl_notify_s *notify = &req->ifr_ifru.ifru_mii_notify; + ret = dev->d_ioctl(dev, cmd, (unsigned long)(uintptr_t)notify); } else @@ -1235,6 +1252,7 @@ static int netdev_ifr_ioctl(FAR struct socket *psock, int cmd, { FAR struct mii_ioctl_data_s *mii_data = &req->ifr_ifru.ifru_mii_data; + ret = dev->d_ioctl(dev, cmd, (unsigned long)(uintptr_t)mii_data); } @@ -1714,7 +1732,7 @@ static int netdev_ioctl(FAR struct socket *psock, int cmd, break; - default: + default: break; }
