diff options
Diffstat (limited to 'src/atsam/fdcan.c')
| -rw-r--r-- | src/atsam/fdcan.c | 49 |
1 files changed, 47 insertions, 2 deletions
diff --git a/src/atsam/fdcan.c b/src/atsam/fdcan.c index deeb6070..20c86b44 100644 --- a/src/atsam/fdcan.c +++ b/src/atsam/fdcan.c @@ -1,11 +1,12 @@ // CANbus support on atsame70 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 @@ -147,6 +148,38 @@ canhw_set_filter(uint32_t id) CANx->MCAN_CCCR &= ~MCAN_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->MCAN_PSR, lec = psr & MCAN_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 & MCAN_PSR_BO) + status->bus_state = CANBUS_STATE_OFF; + else if (psr & MCAN_PSR_EP) + status->bus_state = CANBUS_STATE_PASSIVE; + else if (psr & MCAN_PSR_EW) + status->bus_state = CANBUS_STATE_WARN; + else + status->bus_state = 0; +} + // This function handles CAN global interrupts void CAN_IRQHandler(void) @@ -183,6 +216,18 @@ CAN_IRQHandler(void) CANx->MCAN_IR = FDCAN_IE_TC; canbus_notify_tx(); } + if (ir & (MCAN_IR_PED | MCAN_IR_PEA)) { + // Bus error + uint32_t psr = CANx->MCAN_PSR; + CANx->MCAN_IR = MCAN_IR_PED | MCAN_IR_PEA; + uint32_t lec = psr & MCAN_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 @@ -302,6 +347,6 @@ can_init(void) /*##-3- Configure Interrupts #################################*/ armcm_enable_irq(CAN_IRQHandler, CANx_IRQn, 1); CANx->MCAN_ILE = MCAN_ILE_EINT0; - CANx->MCAN_IE = MCAN_IE_RF0NE | FDCAN_IE_TC; + CANx->MCAN_IE = MCAN_IE_RF0NE | FDCAN_IE_TC | MCAN_IE_PEDE | MCAN_IE_PEAE; } DECL_INIT(can_init); |