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| author | Kevin O'Connor <kevin@koconnor.net> | 2025-01-14 16:06:45 -0500 |
|---|---|---|
| committer | Kevin O'Connor <kevin@koconnor.net> | 2025-02-02 18:43:34 -0500 |
| commit | 61fb5fe29c0c38049c173aa13fdbcffb386aa1c8 (patch) | |
| tree | 5fc2500983fce4055f32764d792a8541ee3154e1 | |
| parent | 9fd415d3f55e4be7e0b0b49a0b65cd8c174e01da (diff) | |
| download | kutter-61fb5fe29c0c38049c173aa13fdbcffb386aa1c8.tar.gz kutter-61fb5fe29c0c38049c173aa13fdbcffb386aa1c8.tar.xz kutter-61fb5fe29c0c38049c173aa13fdbcffb386aa1c8.zip | |
atsamd: Add support for reporting canbus state
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
| -rw-r--r-- | src/atsamd/fdcan.c | 49 |
1 files changed, 47 insertions, 2 deletions
diff --git a/src/atsamd/fdcan.c b/src/atsamd/fdcan.c index 5ad62c0f..e8c10765 100644 --- a/src/atsamd/fdcan.c +++ b/src/atsamd/fdcan.c @@ -1,11 +1,12 @@ // CANbus support on atsame51 chips // -// Copyright (C) 2021-2022 Kevin O'Connor <kevin@koconnor.net> +// Copyright (C) 2021-2025 Kevin O'Connor <kevin@koconnor.net> // Copyright (C) 2019 Eug Krashtan <eug.krashtan@gmail.com> // Copyright (C) 2020 Pontus Borg <glpontus@gmail.com> // // This file may be distributed under the terms of the GNU GPLv3 license. +#include "board/irq.h" // irq_save #include "command.h" // DECL_CONSTANT_STR #include "generic/armcm_boot.h" // armcm_enable_irq #include "generic/canbus.h" // canbus_notify_tx @@ -163,6 +164,38 @@ canhw_set_filter(uint32_t id) CANx->CCCR.reg &= ~CAN_CCCR_INIT; } +static struct { + uint32_t rx_error, tx_error; +} CAN_Errors; + +// Report interface status +void +canhw_get_status(struct canbus_status *status) +{ + irqstatus_t flag = irq_save(); + uint32_t psr = CANx->PSR.reg, lec = psr & CAN_PSR_LEC_Msk; + if (lec && lec != 7) { + // Reading PSR clears it - so update state here + if (lec >= 3 && lec <= 5) + CAN_Errors.tx_error += 1; + else + CAN_Errors.rx_error += 1; + } + uint32_t rx_error = CAN_Errors.rx_error, tx_error = CAN_Errors.tx_error; + irq_restore(flag); + + status->rx_error = rx_error; + status->tx_error = tx_error; + if (psr & CAN_PSR_BO) + status->bus_state = CANBUS_STATE_OFF; + else if (psr & CAN_PSR_EP) + status->bus_state = CANBUS_STATE_PASSIVE; + else if (psr & CAN_PSR_EW) + status->bus_state = CANBUS_STATE_WARN; + else + status->bus_state = 0; +} + // This function handles CAN global interrupts void CAN_IRQHandler(void) @@ -199,6 +232,18 @@ CAN_IRQHandler(void) CANx->IR.reg = FDCAN_IE_TC; canbus_notify_tx(); } + if (ir & (CAN_IR_PED | CAN_IR_PEA)) { + // Bus error + uint32_t psr = CANx->PSR.reg; + CANx->IR.reg = CAN_IR_PED | CAN_IR_PEA; + uint32_t lec = psr & CAN_PSR_LEC_Msk; + if (lec && lec != 7) { + if (lec >= 3 && lec <= 5) + CAN_Errors.tx_error += 1; + else + CAN_Errors.rx_error += 1; + } + } } static inline const uint32_t @@ -309,6 +354,6 @@ can_init(void) /*##-3- Configure Interrupts #################################*/ armcm_enable_irq(CAN_IRQHandler, CANx_IRQn, 1); CANx->ILE.reg = CAN_ILE_EINT0; - CANx->IE.reg = CAN_IE_RF0NE | FDCAN_IE_TC; + CANx->IE.reg = CAN_IE_RF0NE | FDCAN_IE_TC | CAN_IE_PEDE | CAN_IE_PEAE; } DECL_INIT(can_init); |