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RIOT/cpu/esp32/periph/can.c
Gunar Schorcht fccd3821dd cpu/esp32: port periph/can to ESP-IDF twai HAL
2022-07-14 15:51:47 +02:00

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/*
* Copyright (C) 2019 Gunar Schorcht
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @ingroup cpu_esp32
* @brief Implementation of the CAN controller driver for ESP32 (esp_can)
*
* @author Gunar Schorcht <gunar@schorcht.net>
* @file
* @{
*/
#include <assert.h>
#include <errno.h>
#include <string.h>
#include "can_esp.h"
#include "can_params.h"
#include "esp_attr.h"
#include "gpio_arch.h"
#include "irq_arch.h"
#include "driver/periph_ctrl.h"
#include "esp_rom_gpio.h"
#include "hal/interrupt_controller_types.h"
#include "hal/interrupt_controller_ll.h"
#include "hal/twai_hal.h"
#include "log.h"
#include "rom/ets_sys.h"
#include "soc/gpio_sig_map.h"
#define ENABLE_DEBUG 0
#include "debug.h"
#define CAN TWAI
/** Common ESP CAN definitions */
#define ESP_CAN_INTR_MASK (0xffU) /* interrupts handled by ESP CAN */
#define ESP_CAN_CLOCK APB_CLK_FREQ /* controller main clock */
/** Error mode limits used for ESP CAN */
#define ESP_CAN_ERROR_WARNING_LIMIT 96 /* indicator for heavy loaded bus */
#define ESP_CAN_ERROR_PASSIVE_LIMIT 128 /* switch to error passive state */
#define ESP_CAN_ERROR_BUS_OFF_LIMIT 256 /* switch to bus off state */
/* ESP32 CAN events */
#define ESP_CAN_EVENT_BUS_OFF (1 << 0)
#define ESP_CAN_EVENT_ERROR_WARNING (1 << 1)
#define ESP_CAN_EVENT_ERROR_PASSIVE (1 << 2)
#define ESP_CAN_EVENT_TX_ERROR (1 << 3)
#define ESP_CAN_EVENT_RX_ERROR (1 << 4)
#define ESP_CAN_EVENT_TX_CONFIRMATION (1 << 5)
#define ESP_CAN_EVENT_RX_INDICATION (1 << 6)
#define ESP_CAN_EVENT_ARBITRATION_LOST (1 << 7)
#define ESP_CAN_EVENT_WAKE_UP (1 << 8)
/* ESP32 CAN commands */
#define ESP_CMD_TX_REQ 0x01 /* Transmission Request */
#define ESP_CMD_ABORT_TX 0x02 /* Abort Transmission */
#define ESP_CMD_TX_SINGLE_SHOT 0x03 /* Single Shot Transmission */
#define ESP_CMD_RELEASE_RX_BUFF 0x04 /* Release Receive Buffer */
#define ESP_CMD_CLR_DATA_OVRN 0x08 /* Clear Data Overrun */
#define ESP_CMD_SELF_RX_REQ 0x10 /* Self Reception Request */
#define ESP_CMD_SELF_RX_SINGLE_SHOT 0x12 /* Single Shot Self Reception */
/**
* Frame format definition as it is expected/received in the TX/RX buffer
* of ESP32.
*/
#define ESP_CAN_SFF_ID_LEN 2 /* two byte (11 bit) in SFF ID format */
#define ESP_CAN_EFF_ID_LEN 4 /* two byte (29 bit) in EFF ID format */
#define ESP_CAN_MAX_DATA_LEN 8 /* 8 data bytes at maximum */
#define ESP_CAN_FRAME_LEN 13 /* 13 bytes at maximum */
#if !defined(CAN_CLK_OUT) && !defined(CAN_CLK_OUT_DIV)
/* if CAN_CLK_OUT is not used, CAN_CLKOUT_DIV is set to 0 */
#define CAN_CLK_OUT_DIV 0
#elif defined(CAN_CLK_OUT) && !defined(CAN_CLK_OUT_DIV)
/* if CAN_CLK_OUT is used, CAN_CLK_OUT_DIV has to be defined */
#error "CAN_CLK_OUT pin defined but not the CAN_CLK_OUT_DIV"
#endif
/* driver interface functions */
static int _esp_can_init(candev_t *candev);
static int _esp_can_send(candev_t *candev, const struct can_frame *frame);
static void _esp_can_isr(candev_t *candev);
static int _esp_can_set(candev_t *candev, canopt_t opt, void *value, size_t value_len);
static int _esp_can_get(candev_t *candev, canopt_t opt, void *value, size_t max_len);
static int _esp_can_abort(candev_t *candev, const struct can_frame *frame);
static int _esp_can_set_filter(candev_t *candev, const struct can_filter *filter);
static int _esp_can_remove_filter(candev_t *candev, const struct can_filter *filter);
/* internal function declarations, we don't need the device since we have only one */
static void _esp_can_set_bittiming(can_t *dev);
static void _esp_can_start(can_t *dev);
static void _esp_can_stop(can_t *dev);
static void _esp_can_power_up(can_t *dev);
static void _esp_can_power_down(can_t *dev);
static int _esp_can_set_mode(can_t *dev, canopt_state_t state);
static void _esp_can_init_pins(void);
static void _esp_can_deinit_pins(void);
static void IRAM_ATTR _esp_can_intr_handler(void *arg);
/** ESP32 CAN low level device driver data */
static const candev_driver_t _esp_can_driver = {
.send = _esp_can_send,
.init = _esp_can_init,
.isr = _esp_can_isr,
.get = _esp_can_get,
.set = _esp_can_set,
.abort = _esp_can_abort,
.set_filter = _esp_can_set_filter,
.remove_filter = _esp_can_remove_filter,
};
/** hardware dependent constants used for bit timing calculations */
static const struct can_bittiming_const bittiming_const = {
.tseg1_min = 1,
.tseg1_max = 16,
.tseg2_min = 1,
.tseg2_max = 8,
.sjw_max = 4,
.brp_min = 2,
.brp_max = 128,
.brp_inc = 2,
};
static void _esp_can_isr(candev_t *candev)
{
can_t *dev = container_of(candev, can_t, candev);
DEBUG("%s candev=%p\n", __func__, candev);
assert(dev);
assert(dev->candev.event_callback);
if (dev->events & ESP_CAN_EVENT_BUS_OFF) {
dev->events &= ~ESP_CAN_EVENT_BUS_OFF;
dev->candev.event_callback(&dev->candev, CANDEV_EVENT_BUS_OFF, NULL);
}
if (dev->events & ESP_CAN_EVENT_ERROR_PASSIVE) {
dev->events &= ~ESP_CAN_EVENT_ERROR_PASSIVE;
dev->candev.event_callback(&dev->candev,
CANDEV_EVENT_ERROR_PASSIVE, NULL);
}
if (dev->events & ESP_CAN_EVENT_ERROR_WARNING) {
dev->events &= ~ESP_CAN_EVENT_ERROR_WARNING;
dev->candev.event_callback(&dev->candev,
CANDEV_EVENT_ERROR_WARNING, NULL);
}
if (dev->events & ESP_CAN_EVENT_TX_ERROR) {
/* a pending TX confirmation has also to be deleted on TX bus error */
dev->events &= ~ESP_CAN_EVENT_TX_ERROR;
dev->events &= ~ESP_CAN_EVENT_TX_CONFIRMATION;
if (dev->tx_frame) {
/* handle the event only if there is still a frame in TX buffer */
dev->candev.event_callback(&dev->candev,
CANDEV_EVENT_TX_ERROR, dev->tx_frame);
dev->tx_frame = NULL;
}
}
if (dev->events & ESP_CAN_EVENT_TX_CONFIRMATION) {
dev->events &= ~ESP_CAN_EVENT_TX_CONFIRMATION;
if (dev->tx_frame) {
/* handle the event only if there is still a frame in TX buffer */
dev->candev.event_callback(&dev->candev,
CANDEV_EVENT_TX_CONFIRMATION,
dev->tx_frame);
dev->tx_frame = NULL;
}
}
if (dev->events & ESP_CAN_EVENT_RX_ERROR) {
dev->events &= ~ESP_CAN_EVENT_RX_ERROR;
dev->candev.event_callback(&dev->candev, CANDEV_EVENT_RX_ERROR, NULL);
}
if (dev->events & ESP_CAN_EVENT_RX_INDICATION) {
dev->events &= ~ESP_CAN_EVENT_RX_INDICATION;
while (dev->rx_frames_num) {
dev->candev.event_callback(&dev->candev,
CANDEV_EVENT_RX_INDICATION,
&dev->rx_frames[dev->rx_frames_rptr]);
dev->rx_frames_num--;
dev->rx_frames_rptr++;
dev->rx_frames_rptr &= ESP_CAN_MAX_RX_FRAMES-1;
}
}
}
twai_hal_context_t hw;
static int _esp_can_init(candev_t *candev)
{
can_t *dev = container_of(candev, can_t, candev);
DEBUG("%s candev=%p\n", __func__, candev);
assert(dev);
/* power up and configure the CAN controller and initialize the pins */
_esp_can_power_up(dev);
/* start the CAN controller in configured operation mode */
_esp_can_start(dev);
return 0;
}
static int _esp_can_send(candev_t *candev, const struct can_frame *frame)
{
can_t *dev = container_of(candev, can_t, candev);
DEBUG("%s candev=%p frame=%p\n", __func__, candev, frame);
assert(dev);
assert(frame);
critical_enter();
/* check wthere the device is already transmitting a frame */
if (dev->tx_frame != NULL) {
critical_exit();
return -EBUSY;
}
/* save reference to frame in transmission (marks transmitter as busy) */
dev->tx_frame = (struct can_frame*)frame;
/* prepare the frame as expected by ESP32 */
twai_hal_frame_t esp_frame = { };
esp_frame.dlc = frame->can_dlc;
esp_frame.rtr = (frame->can_id & CAN_RTR_FLAG);
esp_frame.frame_format = (frame->can_id & CAN_EFF_FLAG);
/* esp_frame is a union that provides two views on the same memory: one
* tailored for efficient access and the other for readable code. Likely
* due to cppcheck not finding all headers it wrongly assumes that values
* are assigned but never read again (unreadVariable). But the union members
* are read via the aliases to the same memory. */
if (esp_frame.frame_format) {
uint32_t id = frame->can_id & CAN_EFF_MASK;
/* cppcheck-suppress unreadVariable */
esp_frame.extended.id[0] = (id >> 21) & 0xff;
/* cppcheck-suppress unreadVariable */
esp_frame.extended.id[1] = (id >> 13) & 0xff;
/* cppcheck-suppress unreadVariable */
esp_frame.extended.id[2] = (id >> 5) & 0xff;
/* cppcheck-suppress unreadVariable */
esp_frame.extended.id[3] = (id << 3) & 0xff;
}
else {
uint32_t id = frame->can_id & CAN_SFF_MASK;
/* cppcheck-suppress unreadVariable */
esp_frame.standard.id[0] = (id >> 3) & 0xff;
/* cppcheck-suppress unreadVariable */
esp_frame.standard.id[1] = (id << 5) & 0xff;
}
/* copy data from can_frame to esp_frame */
memcpy(esp_frame.frame_format ? &esp_frame.extended.data
: &esp_frame.standard.data,
frame->data, ESP_CAN_MAX_DATA_LEN);
/* set the single shot transmit command without self-receiption */
esp_frame.single_shot = 1;
esp_frame.self_reception = 0;
/* place the frame in TX buffer and trigger the command */
twai_hal_set_tx_buffer_and_transmit(&hw, &esp_frame);
critical_exit();
return 0;
}
static int _esp_can_set(candev_t *candev, canopt_t opt, void *value, size_t value_len)
{
can_t *dev = container_of(candev, can_t, candev);
assert(dev);
assert(value);
int res = 0;
switch (opt) {
case CANOPT_BITTIMING:
DEBUG("%s CANOPT_BITTIMING\n", __func__);
if (value_len < sizeof(struct can_bittiming)) {
DEBUG("%s size error\n", __func__);
return -EOVERFLOW;
}
dev->candev.bittiming = *((struct can_bittiming*)value);
_esp_can_stop(dev);
_esp_can_set_bittiming(dev);
_esp_can_start(dev);
res = sizeof(struct can_bittiming);
break;
case CANOPT_STATE:
DEBUG("%s CANOPT_STATE %d\n", __func__, *((canopt_state_t *)value));
if (dev->powered_up) {
_esp_can_stop(dev);
}
res = _esp_can_set_mode(dev, *((canopt_state_t *)value));
if (dev->powered_up) {
_esp_can_start(dev);
}
if (res == 0) {
res = sizeof(uint16_t);
}
break;
case CANOPT_TEC:
DEBUG("%s %s\n", __func__, "CANOPT_TEC");
if (value_len < sizeof(uint16_t)) {
DEBUG("%s size error\n", __func__);
return -EOVERFLOW;
}
_esp_can_stop(dev);
twai_ll_set_tec(hw.dev, *((uint16_t*)value));
_esp_can_start(dev);
res = sizeof(uint16_t);
break;
case CANOPT_REC:
DEBUG("%s %s\n", __func__, "CANOPT_REC");
if (value_len < sizeof(uint16_t)) {
DEBUG("%s size error\n", __func__);
return -EOVERFLOW;
}
_esp_can_stop(dev);
twai_ll_set_rec(hw.dev, *((uint16_t*)value));
_esp_can_start(dev);
res = sizeof(uint16_t);
break;
default:
DEBUG("%s not supported opt\n", __func__);
res = ENOTSUP;
}
return res;
}
static int _esp_can_get(candev_t *candev, canopt_t opt, void *value, size_t max_len)
{
can_t *dev = container_of(candev, can_t, candev);
DEBUG("%s\n", __func__);
assert(dev);
assert(value);
int res = 0;
switch (opt) {
case CANOPT_BITTIMING:
DEBUG("%s CANOPT_BITTIMING\n", __func__);
if (max_len < sizeof(struct can_bittiming)) {
res = -EOVERFLOW;
break;
}
*((struct can_bittiming*)value) = dev->candev.bittiming;
res = sizeof(struct can_bittiming);
break;
case CANOPT_BITTIMING_CONST:
DEBUG("%s CANOPT_BITTIMING_CONST\n", __func__);
if (max_len < sizeof(struct can_bittiming_const)) {
res = -EOVERFLOW;
break;
}
*((struct can_bittiming_const*)value) = bittiming_const;
res = sizeof(struct can_bittiming_const);
break;
case CANOPT_CLOCK:
DEBUG("%s CANOPT_CLOCK\n", __func__);
if (max_len < sizeof(uint32_t)) {
res = -EOVERFLOW;
break;
}
*((uint32_t *)value) = APB_CLK_FREQ;
res = sizeof(uint32_t);
break;
case CANOPT_TEC:
DEBUG("%s %s\n", __func__, "CANOPT_TEC");
if (max_len < sizeof(uint16_t)) {
res = EOVERFLOW;
break;
}
*((uint16_t *)value) = twai_ll_get_tec(hw.dev);
res = sizeof(uint16_t);
break;
case CANOPT_REC:
DEBUG("%s %s\n", __func__, "CANOPT_REC");
if (max_len < sizeof(uint16_t)) {
res = EOVERFLOW;
break;
}
*((uint16_t *)value) = twai_ll_get_rec(hw.dev);
res = sizeof(uint16_t);
break;
case CANOPT_RX_FILTERS:
if (max_len % sizeof(struct can_filter) != 0) {
res = -EOVERFLOW;
break;
}
struct can_filter *list = value;
unsigned filter_num_max = max_len / sizeof(struct can_filter);
unsigned filter_num = 0;
unsigned i;
for (i = 0; i < ESP_CAN_MAX_RX_FILTERS && filter_num < filter_num_max; i++) {
if (dev->rx_filters[i].can_id != 0) {
list[i] = dev->rx_filters[i];
filter_num++;
}
}
res = filter_num * sizeof(struct can_filter);
break;
default:
DEBUG("%s not supported opt\n", __func__);
res = -ENOTSUP;
}
return res;
}
static int _esp_can_abort(candev_t *candev, const struct can_frame *frame)
{
can_t *dev = container_of(candev, can_t, candev);
DEBUG("%s candev=%p frame=%p\n", __func__, candev, frame);
assert(dev);
assert(frame);
/* abort transmission command */
twai_ll_set_cmd_abort_tx(hw.dev);
/* mark the transmitter as free */
dev->tx_frame = NULL;
return -ENOTSUP;
}
static int _esp_can_set_filter(candev_t *candev, const struct can_filter *filter)
{
can_t *dev = container_of(candev, can_t, candev);
DEBUG("%s candev=%p filter=%p\n", __func__, candev, filter);
assert(dev);
assert(filter);
int i;
/* first, check whether filter is already set */
for (i = 0; i < ESP_CAN_MAX_RX_FILTERS; i++) {
if (dev->rx_filters[i].can_id == filter->can_id) {
DEBUG("%s filter already set\n", __func__);
return i;
}
}
/* next, search for free filter entry */
for (i = 0; i < ESP_CAN_MAX_RX_FILTERS; i++) {
if (dev->rx_filters[i].can_id == 0) {
break;
}
}
if (i == ESP_CAN_MAX_RX_FILTERS) {
DEBUG("%s no more filters available\n", __func__);
return -EOVERFLOW;
}
/* set the filter and return the filter index */
dev->rx_filters[i] = *filter;
dev->rx_filter_num++;
return i;
}
static int _esp_can_remove_filter(candev_t *candev, const struct can_filter *filter)
{
can_t *dev = container_of(candev, can_t, candev);
DEBUG("%s candev=%p filter=%p\n", __func__, candev, filter);
assert(dev);
assert(filter);
/* search for the filter */
for (unsigned i = 0; i < ESP_CAN_MAX_RX_FILTERS; i++) {
if (dev->rx_filters[i].can_id == filter->can_id) {
/* mark the filter entry as not in use */
dev->rx_filters[i].can_id = 0;
dev->rx_filter_num--;
return 0;
}
}
DEBUG("%s error filter not found\n", __func__);
return -EOVERFLOW;
}
/**
* Internal functions.
*/
static void _esp_can_start(can_t *dev)
{
DEBUG("%s dev=%p\n", __func__, dev);
assert(dev);
/* start the CAN controller in configured mode */
switch (dev->state) {
case CANOPT_STATE_LISTEN_ONLY:
twai_hal_start(&hw, TWAI_MODE_LISTEN_ONLY);
break;
case CANOPT_STATE_SLEEP:
/* sleep mode is not supported, the normal mode is used instead */
case CANOPT_STATE_ON:
twai_hal_start(&hw, TWAI_MODE_NORMAL);
break;
default:
break;
}
}
static void _esp_can_stop(can_t *dev)
{
DEBUG("%s dev=%p\n", __func__, dev);
assert(dev);
/* stop the CAN controller by entering the reset mode */
twai_hal_stop(&hw);
}
static void _esp_can_power_up(can_t *dev)
{
/**
* Function esp_can_power_up
* - powers up the CAN controller,
* - initializes the HAL context,
* - sets the timing and the acceptance filters according to configuration
* - resets the error counters and sets the warning limit
*
* The CAN controller must be started in configured mode explicitly
* afterwards using function _esp_can_start().
*/
DEBUG("%s dev=%p\n", __func__, dev);
assert(dev);
/* just return when already powered up */
if (dev->powered_up) {
return;
}
critical_enter();
/* power up the peripheral */
periph_module_reset(PERIPH_TWAI_MODULE);
periph_module_enable(PERIPH_TWAI_MODULE);
/* initialize the HAL context, on return the CAN controller is in listen
* only mode but not yet started, the error counters are reset and
* pending interrupts cleared */
if (!twai_hal_init(&hw)) {
assert(false);
}
/* set bittiming from parameters as given in device data */
_esp_can_set_bittiming(dev);
/* set warning limit */
twai_ll_set_err_warn_lim(hw.dev, ESP_CAN_ERROR_WARNING_LIMIT);
/* route CAN interrupt source to CPU interrupt and enable it */
intr_matrix_set(PRO_CPU_NUM, ETS_TWAI_INTR_SOURCE, CPU_INUM_CAN);
intr_cntrl_ll_set_int_handler(CPU_INUM_CAN, _esp_can_intr_handler, (void*)(uintptr_t)dev);
intr_cntrl_ll_enable_interrupts(BIT(CPU_INUM_CAN));
/* initialize used GPIOs */
_esp_can_init_pins();
dev->powered_up = true;
critical_exit();
}
static void _esp_can_power_down(can_t *dev)
{
DEBUG("%s dev=%p\n", __func__, dev);
assert(dev);
/* just return when already powered down */
if (!dev->powered_up) {
return;
}
/* deinitialize used GPIOs */
_esp_can_deinit_pins();
/* stop the CAN controller and deinitialize the HAL context */
twai_hal_stop(&hw);
twai_hal_deinit(&hw);
/* power down the CAN controller */
periph_module_disable(PERIPH_CAN_MODULE);
dev->powered_up = false;
}
static void _esp_can_init_pins(void)
{
DEBUG("%s\n", __func__);
const can_conf_t *cfg = &candev_conf[0];
/* Init TX pin */
gpio_init(cfg->tx_pin, GPIO_OUT);
esp_rom_gpio_connect_out_signal(cfg->tx_pin, TWAI_TX_IDX, false, false);
esp_rom_gpio_pad_select_gpio(cfg->tx_pin);
gpio_set_pin_usage(cfg->tx_pin, _CAN);
/* Init RX pin */
gpio_init(cfg->rx_pin, GPIO_IN);
esp_rom_gpio_connect_in_signal(cfg->rx_pin, TWAI_RX_IDX, false);
esp_rom_gpio_pad_select_gpio(cfg->rx_pin);
gpio_set_pin_usage(cfg->rx_pin, _CAN);
#ifdef CAN_CLK_OUT
/* Init CLK_OUT pin (optional) if defined */
gpio_init(cfg->clk_out_pin, GPIO_OD);
esp_rom_gpio_connect_out_signal(cfg->clk_out_pin, TWAI_CLKOUT_IDX, false, false);
esp_rom_gpio_pad_select_gpio(cfg->clk_out_pin);
gpio_set_pin_usage(cfg->clk_out_pin, _CAN);
#endif
#ifdef CAN_BUS_ON_OFF
/* Init BUS_ON_OFF pin pin (optional) if defined */
gpio_init(cfg->bus_on_of_pin, GPIO_OD);
esp_rom_gpio_connect_out_signal(cfg->bus_on_of_pin, TWAI_BUS_OFF_ON_IDX, false, false);
esp_rom_gpio_pad_select_gpio(cfg->bus_on_of_pin);
gpio_set_pin_usage(cfg->bus_on_of_pin, _CAN);
#endif
}
static void _esp_can_deinit_pins(void)
{
const can_conf_t *cfg = &candev_conf[0];
/* Reset TX pin */
gpio_set_pin_usage(cfg->tx_pin, _GPIO);
gpio_init(cfg->tx_pin, GPIO_IN_PU);
/* Reset RX pin */
gpio_set_pin_usage(cfg->rx_pin, _GPIO);
gpio_init(cfg->rx_pin, GPIO_IN_PU);
#ifdef CAN_CLK_OUT
/* Reset CLK_OUT pin (optional) if defined */
gpio_set_pin_usage(cfg->clk_out_pin, _GPIO);
gpio_init(cfg->clk_out_pin, GPIO_IN);
#endif
#ifdef CAN_BUS_ON_OFF
/* Reset BUS_ON_OFF pin pin (optional) if defined */
gpio_set_pin_usage(cfg->bus_on_of_pin, _GPIO);
gpio_init(cfg->bus_on_of_pin, GPIO_IN_PD);
#endif
}
static int _esp_can_set_mode(can_t *dev, canopt_state_t state)
{
DEBUG("%s dev=%p state=%d\n", __func__, dev, state);
assert(dev);
critical_enter();
/* set the new mode */
dev->state = state;
switch (state) {
case CANOPT_STATE_OFF:
/* stop and power down the CAN controller */
_esp_can_power_down(dev);
break;
case CANOPT_STATE_SLEEP:
/* sleep mode is not supported, so CAN can't be powered down */
case CANOPT_STATE_LISTEN_ONLY:
case CANOPT_STATE_ON:
/* power up and (re)configure the CAN controller if necessary */
_esp_can_power_up(dev);
/* restart the CAN controller in new mode */
_esp_can_stop(dev);
_esp_can_start(dev);
break;
default:
LOG_TAG_ERROR ("esp_can", "state value %d not supported\n", state);
break;
}
critical_exit();
return 0;
}
static void IRAM_ATTR _esp_can_intr_handler(void *arg)
{
can_t* dev = (can_t *)(uintptr_t)arg;
assert(arg);
critical_enter();
uint32_t events = twai_hal_get_events(&hw);
DEBUG("%s events=%08"PRIx32"\n", __func__, events);
/* Arbitration Lost Interrupt */
if (events & TWAI_HAL_EVENT_ARB_LOST) {
DEBUG("%s arbitration lost interrupt\n", __func__);
/* can only happen during transmission, handle it as error in single shot transmission */
dev->events |= ESP_CAN_EVENT_TX_ERROR;
}
/* BUS_OFF state condition */
if (events & TWAI_HAL_EVENT_BUS_OFF) {
DEBUG("%s bus-off state interrupt\n", __func__);
/* save the event */
dev->events |= ESP_CAN_EVENT_BUS_OFF;
}
/* ERROR_WARNING state condition, RX/TX error counter are > 96 */
if (events & TWAI_HAL_EVENT_ABOVE_EWL) {
DEBUG("%s error warning interrupt\n", __func__);
/* save the event */
dev->events |= ESP_CAN_EVENT_ERROR_WARNING;
}
/* enter to / return from ERROR_PASSIVE state */
if (events & TWAI_HAL_EVENT_ERROR_PASSIVE) {
DEBUG("%s error passive interrupt %"PRIu32" %"PRIu32"\n", __func__,
twai_ll_get_tec(hw.dev), twai_ll_get_rec(hw.dev));
/* save the event */
dev->events |= ESP_CAN_EVENT_ERROR_PASSIVE;
}
/*
* Bus Error Interrupt (bit, stuff, crc, form, ack), details are captured
* in ECC register (see SJA1000 Data sheet, Table 20 and 21)
*/
if (events & TWAI_HAL_EVENT_BUS_ERR) {
DEBUG("%s bus error interrupt\n", __func__);
/* save the event */
dev->events |= ESP_CAN_EVENT_TX_ERROR;
}
/* TX buffer becomes free */
if (events & TWAI_HAL_EVENT_TX_BUFF_FREE) {
DEBUG("%s transmit interrupt\n", __func__);
/* save the event */
dev->events |= ESP_CAN_EVENT_TX_CONFIRMATION;
}
/* RX buffer has one or more frames */
if (events & TWAI_HAL_EVENT_RX_BUFF_FRAME) {
/* get the number of messages in receive buffer */
uint32_t msg_cnt = twai_hal_get_rx_msg_count(&hw);
DEBUG("%s receive interrupt, msg_cnt=%"PRIu32"\n", __func__, msg_cnt);
for (unsigned i = 0; i < msg_cnt; i++) {
twai_hal_frame_t esp_frame;
if (twai_hal_read_rx_buffer_and_clear(&hw, &esp_frame) &&
(dev->rx_frames_num < ESP_CAN_MAX_RX_FRAMES)) {
/* prepare the CAN frame from ESP32 CAN frame */
struct can_frame frame = {};
if (esp_frame.frame_format) {
frame.can_id = esp_frame.extended.id[0];
frame.can_id = (frame.can_id << 8) | esp_frame.extended.id[1];
frame.can_id = (frame.can_id << 8) | esp_frame.extended.id[2];
frame.can_id = (frame.can_id << 5) | (esp_frame.extended.id[3] >> 3);
memcpy(frame.data, &esp_frame.extended.data, CAN_MAX_DLEN);
}
else {
frame.can_id = esp_frame.standard.id[0];
frame.can_id = (frame.can_id << 3) | (esp_frame.standard.id[1] >> 5);
memcpy(frame.data, &esp_frame.standard.data, CAN_MAX_DLEN);
}
frame.can_id |= esp_frame.rtr ? CAN_RTR_FLAG : 0;
frame.can_id |= esp_frame.frame_format ? CAN_EFF_FLAG : 0;
frame.can_dlc = esp_frame.dlc;
/* apply acceptance filters only if they are set */
unsigned f_id = 0;
if (dev->rx_filter_num) {
for (f_id = 0; f_id < ESP_CAN_MAX_RX_FILTERS; f_id++) {
/* compared masked can_id with each filter */
struct can_filter* f = &dev->rx_filters[f_id];
if ((f->can_mask & f->can_id) ==
(f->can_mask & frame.can_id)) {
/* break the loop on first match */
break;
}
}
}
/*
* put the frame in the RX ring buffer if there are no
* acceptance filters (f_id == 0) or one filter matched
* (f_id < ESP_CAN_MAX_RX_FILTERS), otherwise drop it.
*/
if (f_id < ESP_CAN_MAX_RX_FILTERS) {
dev->rx_frames[dev->rx_frames_wptr] = frame;
dev->rx_frames_num++;
dev->rx_frames_wptr++;
dev->rx_frames_wptr &= ESP_CAN_MAX_RX_FRAMES-1;
/* at least one RX frame has been saved */
dev->events |= ESP_CAN_EVENT_RX_INDICATION;
}
}
else {
DEBUG("%s receive buffer overrun\n", __func__);
/* we use rx error since there is no separate overrun error */
dev->events |= ESP_CAN_EVENT_RX_ERROR;
}
}
}
DEBUG("%s events=%08"PRIx32"\n", __func__, dev->events);
/* inform the upper layer that there are events to be handled */
if (dev->events && dev->candev.event_callback) {
dev->candev.event_callback(&dev->candev, CANDEV_EVENT_ISR, NULL);
}
critical_exit();
}
/* accept all CAN messages by default, filtering is done by software */
static const twai_filter_config_t twai_filter = {
.single_filter = false, /* single filter */
.acceptance_mask = UINT32_MAX, /* all bits masked */
};
static void _esp_can_set_bittiming(can_t *dev)
{
/* sets the bus timing, the CAN controller has to stopped before using
* function _esp_can_stop(dev) and has to be restartet using
* function _esp_can_start() afterwards */
assert(dev);
struct can_bittiming* timing = &dev->candev.bittiming;
DEBUG("%s %p bitrate=%"PRIu32", brp=%"PRIu32", sample_point=%"PRIu32", "
"tq=%"PRIu32", prop_seg=%"PRIu32" phase_seg1=%"PRIu32", "
"phase_seg2=%"PRIu32", sjw =%"PRIu32"\n", __func__, dev,
timing->bitrate, timing->brp, timing->sample_point, timing->tq,
timing->prop_seg, timing->phase_seg1, timing->phase_seg2,
timing->sjw);
twai_timing_config_t twai_timing = {
.brp = timing->brp,
.sjw = timing->sjw,
.tseg_1 = timing->prop_seg + timing->phase_seg1,
.tseg_2 = timing->phase_seg2,
};
twai_hal_configure(&hw, &twai_timing, &twai_filter,
ESP_CAN_INTR_MASK, CAN_CLK_OUT_DIV);
}
void can_init(can_t *dev, const can_conf_t *conf)
{
DEBUG("%s dev=%p conf=%p\n", __func__, dev, conf);
assert(dev);
assert(conf);
dev->candev.driver = &_esp_can_driver;
dev->candev.bittiming.bitrate = conf->bitrate;
/* determine the hardware bittiming constants */
struct can_bittiming_const timing_const = bittiming_const;
/* calculate the initial bittimings from the bittiming constants */
can_device_calc_bittiming(ESP_CAN_CLOCK, &timing_const, &dev->candev.bittiming);
/* initialize other members */
dev->state = CAN_STATE_SLEEPING;
dev->tx_frame = NULL;
dev->rx_frames_wptr = 0;
dev->rx_frames_rptr = 0;
dev->rx_frames_num = 0;
dev->rx_filter_num = 0;
dev->powered_up = false;
}
void can_print_config(void)
{
printf("\tCAN_DEV(0)\ttxd=%d rxd=%d\n", CAN_TX, CAN_RX);
}
/**@}*/
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