candev_samd5x.h
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1 /*
2  * Copyright (C) 2024 ML!PA Consulting GmbH
3  *
4  * This file is subject to the terms and conditions of the GNU Lesser
5  * General Public License v2.1. See the file LICENSE in the top level
6  * directory for more details.
7  */
8 
20 #ifndef CANDEV_SAMD5X_H
21 #define CANDEV_SAMD5X_H
22 
23 #ifdef __cplusplus
24 extern "C" {
25 #endif
26 
27 #if defined(CAN_INST_NUM)
28 #include "can/candev.h"
29 
30 #ifndef CANDEV_SAMD5X_DEFAULT_BITRATE
32 #define CANDEV_SAMD5X_DEFAULT_BITRATE 500000U
33 #endif
34 
35 #ifndef CANDEV_SAMD5X_DEFAULT_SPT
37 #define CANDEV_SAMD5X_DEFAULT_SPT 875
38 #endif
39 
40 #ifndef CANDEV_SAMD5X_DEFAULT_STD_FILTER_NUM
41 #define CANDEV_SAMD5X_DEFAULT_STD_FILTER_NUM 3
42 #endif
43 
44 #ifndef CANDEV_SAMD5X_DEFAULT_EXT_FILTER_NUM
45 #define CANDEV_SAMD5X_DEFAULT_EXT_FILTER_NUM 3
46 #endif
47 
48 #ifndef CANDEV_SAMD5X_DEFAULT_RX_FIFO_0_ELTS_NUM
49 #define CANDEV_SAMD5X_DEFAULT_RX_FIFO_0_ELTS_NUM 32
50 #endif
51 
52 #ifndef CANDEV_SAMD5X_DEFAULT_RX_FIFO_1_ELTS_NUM
53 #define CANDEV_SAMD5X_DEFAULT_RX_FIFO_1_ELTS_NUM 32
54 #endif
55 
56 #ifndef CANDEV_SAMD5X_DEFAULT_TX_EVT_FIFO_ELTS_NUM
57 #define CANDEV_SAMD5X_DEFAULT_TX_EVT_FIFO_ELTS_NUM 16
58 #endif
59 
60 #ifndef CANDEV_SAMD5X_DEFAULT_TX_BUFFER_NUM
61 #define CANDEV_SAMD5X_DEFAULT_TX_BUFFER_NUM 16
62 #endif
63 
64 #ifndef CANDEV_SAMD5X_DEFAULT_TX_BUFFER_FIFO_QUEUE_NUM
65 #define CANDEV_SAMD5X_DEFAULT_TX_BUFFER_FIFO_QUEUE_NUM 16
66 #endif
67 
68 /* unit: elements */
69 #define CANDEV_SAMD5X_MAX_STD_FILTER 128
70 #define CANDEV_SAMD5X_MAX_EXT_FILTER 64
71 #define CANDEV_SAMD5X_MAX_RX_FIFO_0_ELTS 64
72 #define CANDEV_SAMD5X_MAX_RX_FIFO_1_ELTS 64
73 #define CANDEV_SAMD5X_MAX_RX_BUFFER 64
74 #define CANDEV_SAMD5X_MAX_TX_EVT_FIFO_ELTS 32
75 #define CANDEV_SAMD5X_MAX_TX_BUFFER 32
76 #define CANDEV_SAMD5X_MSG_RAM_MAX_SIZE 448
77 
78 /* SAMD5x CAN controller error codes (values from datasheet section 39.8.14) */
79 #define CANDEV_SAMD5X_NO_ERROR 0
80 #define CANDEV_SAMD5X_STUFF_ERROR 1
81 #define CANDEV_SAMD5X_FORM_ERROR 2
82 #define CANDEV_SAMD5X_ACK_ERROR 3
83 #define CANDEV_SAMD5X_BIT1_ERROR 4
84 #define CANDEV_SAMD5X_BIT0_ERROR 5
85 #define CANDEV_SAMD5X_CRC_ERROR 6
86 #define CANDEV_SAMD5X_NO_CHANGE_ERROR 7
87 
91 typedef struct {
93  Can *can;
95  gpio_t rx_pin;
97  gpio_t tx_pin;
99  gpio_t enable_pin;
101  gpio_mode_t enable_pin_mode;
103  uint8_t gclk_src;
112  bool enable_pin_active_low;
113 } can_conf_t;
114 #define HAVE_CAN_CONF_T
115 
119 typedef struct {
121  CanMramSidfe std_filter[CANDEV_SAMD5X_DEFAULT_STD_FILTER_NUM];
123  CanMramXifde ext_filter[CANDEV_SAMD5X_DEFAULT_EXT_FILTER_NUM];
125  CanMramRxf0e rx_fifo_0[CANDEV_SAMD5X_DEFAULT_RX_FIFO_0_ELTS_NUM];
127  CanMramRxf1e rx_fifo_1[CANDEV_SAMD5X_DEFAULT_RX_FIFO_1_ELTS_NUM];
129  CanMramRxbe rx_buffer[CANDEV_SAMD5X_MAX_RX_BUFFER];
131  CanMramTxefe tx_event_fifo[CANDEV_SAMD5X_DEFAULT_TX_EVT_FIFO_ELTS_NUM];
133  CanMramTxbe tx_fifo_queue[CANDEV_SAMD5X_DEFAULT_TX_BUFFER_FIFO_QUEUE_NUM];
134 } msg_ram_conf_t;
135 
139 typedef struct {
141  candev_t candev;
143  const can_conf_t *conf;
145  msg_ram_conf_t msg_ram_conf;
147  bool tdc_ctrl;
149  bool tx_fifo_queue_ctrl;
150 } can_t;
151 #define HAVE_CAN_T
152 
159 void candev_samd5x_tdc_control(can_t *dev);
160 
167 void candev_samd5x_enter_sleep_mode(candev_t *candev);
168 
175 void candev_samd5x_exit_sleep_mode(candev_t *candev);
176 
177 #endif /* CAN_INST_NUM */
178 
179 #ifdef __cplusplus
180 }
181 #endif
182 
183 #endif /* CANDEV_SAMD5X_H */
candev.h
Definitions for low-level CAN driver interface.
can_t
struct can can_t
Low level device structure for ESP32 CAN (extension of candev_t)
gpio_mode_t
gpio_mode_t
Available pin modes.
Definition: periph_cpu.h:91
can_conf_t
struct candev_conf can_conf_t
Linux candev configuration.
can_conf_t
ESP CAN device configuration.
Definition: can_esp.h:88
can
Low level device structure for ESP32 CAN (extension of candev_t)
Definition: can_esp.h:64
candev
Structure to hold driver state.
Definition: candev.h:77