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can: add CAN FD configuration

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Add CAN FD specifities to CAN system library in RIOT:
* 64 bytes payload
* Bit rate switching
* Error State Indicator

Signed-off-by: Gilles DOFFE <gilles.doffe@rtone.fr>
This commit is contained in:
Gilles DOFFE 2024-01-24 03:16:42 +01:00
parent b55f269d17
commit 3c026569f6
3 changed files with 59 additions and 7 deletions
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3
drivers/include/can/candev.h
View File

@ -80,6 +80,9 @@ struct candev {
void *isr_arg; /**< argument to pass on isr event */
struct can_bittiming bittiming; /**< device bittimings */
enum can_state state; /**< device state */
#ifdef MODULE_FDCAN
struct can_bittiming fd_data_bittiming;/**< device bittimings for FD CAN only */
#endif
};
/**

50
sys/include/can/can.h
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@ -40,9 +40,13 @@ extern "C" {
#else
/**
* @brief Max data length for a CAN frame
* @brief Max data length for classic and FD CAN frames (compliant with
* libsocketcan macros)
* @{
*/
#define CAN_MAX_DLEN (8)
#define CAN_MAX_DLEN (8) /**< Classic CAN maximum data length */
#define CANFD_MAX_DLEN (64) /**< CAN FD maximum data length */
/** @} */
/**
* @name CAN_ID flags and masks
@ -59,6 +63,15 @@ extern "C" {
#define CAN_ERR_MASK (0x1FFFFFFFU) /**< omit EFF, RTR, ERR flags */
/** @} */
/**
* @name CAN FD flags extracted from libsocketcan
* @{
*/
#define CANFD_BRS 0x01 /**< bit rate switch (second bitrate for payload data) */
#define CANFD_ESI 0x02 /**< error state indicator of the transmitting node */
#define CANFD_FDF 0x04 /**< mark CAN FD for dual use of struct canfd_frame */
/** @} */
/**
* @brief CAN operational and error states
*/
@ -86,15 +99,30 @@ typedef uint32_t canid_t;
* @brief Controller Area Network frame
*/
struct can_frame {
canid_t can_id; /**< 32 bit CAN_ID + EFF/RTR/ERR flags */
uint8_t can_dlc; /**< frame payload length in byte (0 .. CAN_MAX_DLEN) */
uint8_t __pad; /**< padding */
uint8_t __res0; /**< reserved / padding */
uint8_t __res1; /**< reserved / padding */
canid_t can_id; /**< 32 bit CAN_ID + EFF/RTR/ERR flags */
union {
uint8_t len; /**< frame payload length in byte (0 .. CAN_MAX_DLEN) */
uint8_t can_dlc;/**< deprecated - see SocketCAN documentation */
};
uint8_t __pad; /**< padding */
uint8_t __res0; /**< reserved / padding */
uint8_t __res1; /**< reserved / padding */
/** Frame data */
uint8_t data[CAN_MAX_DLEN] __attribute__((aligned(8)));
};
#ifdef MODULE_FDCAN
struct canfd_frame {
canid_t can_id; /**< 32 bit CAN_ID + EFF/RTR/ERR flags */
uint8_t len; /**< frame payload length in byte (0 .. CAN_MAX_DLEN) */
uint8_t flags; /**< additional flags for CAN FD */
uint8_t __res0; /**< reserved / padding */
uint8_t __res1; /**< reserved / padding */
/** Frame data */
uint8_t data[CANFD_MAX_DLEN] __attribute__((aligned(8)));
};
#endif
/**
* @brief Controller Area Network filter
*/
@ -142,7 +170,15 @@ struct can_bittiming_const {
#endif /* defined(__linux__) */
/**
* @brief CAN frame
*/
#ifdef MODULE_FDCAN
typedef struct canfd_frame can_frame_t;
#else
typedef struct can_frame can_frame_t;
#endif
#ifdef __cplusplus
}
#endif

13
sys/include/can/common.h
View File

@ -39,6 +39,15 @@ extern "C" {
#include "mbox.h"
#endif
/**
* @brief Default CAN maximum data length
*/
#ifdef MODULE_FDCAN
#define DEFAULT_CAN_MAX_DLEN CANFD_MAX_DLEN
#else
#define DEFAULT_CAN_MAX_DLEN CAN_MAX_DLEN
#endif
/**
* @brief CAN options
*/
@ -51,6 +60,10 @@ typedef enum {
CANOPT_CLOCK, /**< controller main clock */
CANOPT_BITTIMING_CONST, /**< controller bittiming parameters */
CANOPT_STATE, /**< set controller state @ref canopt_state_t */
#ifdef MODULE_FDCAN
CANOPT_FD_BITTIMING, /**< bit timing parameter for FDCAN data payload */
CANOPT_FD_BITTIMING_CONST, /**< controller bit timing parameter for FDCAN data payload */
#endif
} canopt_t;
/**