diff options
Diffstat (limited to 'src/atsamd/fdcan.c')
| -rw-r--r-- | src/atsamd/fdcan.c | 22 |
1 files changed, 21 insertions, 1 deletions
diff --git a/src/atsamd/fdcan.c b/src/atsamd/fdcan.c index 758cb4f2..7c3e6b65 100644 --- a/src/atsamd/fdcan.c +++ b/src/atsamd/fdcan.c @@ -28,6 +28,11 @@ #define GPIO_Rx GPIO('A', 25) #define GPIO_Tx GPIO('A', 24) #define CANx_GCLK_ID CAN0_GCLK_ID +#elif CONFIG_ATSAMD_CANBUS_PB11_PB10 + DECL_CONSTANT_STR("RESERVE_PINS_CAN", "PB11,PB10"); + #define GPIO_Rx GPIO('B', 11) + #define GPIO_Tx GPIO('B', 10) + #define CANx_GCLK_ID CAN1_GCLK_ID #elif CONFIG_ATSAMD_CANBUS_PB13_PB12 DECL_CONSTANT_STR("RESERVE_PINS_CAN", "PB13,PB12"); #define GPIO_Rx GPIO('B', 13) @@ -40,7 +45,17 @@ #define CANx_GCLK_ID CAN1_GCLK_ID #endif -#if CANx_GCLK_ID == CAN0_GCLK_ID +#if CANx_GCLK_ID == CAN0_GCLK_ID && CONFIG_MACH_SAMC21 + #define CAN_FUNCTION 'G' + #define CANx CAN0 + #define CANx_IRQn CAN0_IRQn + #define MCLK_AHBMASK_CANx MCLK_AHBMASK_CAN0 +#elif CANx_GCLK_ID == CAN1_GCLK_ID && CONFIG_MACH_SAMC21 + #define CAN_FUNCTION 'G' + #define CANx CAN1 + #define CANx_IRQn CAN1_IRQn + #define MCLK_AHBMASK_CANx MCLK_AHBMASK_CAN1 +#elif CANx_GCLK_ID == CAN0_GCLK_ID #define CAN_FUNCTION 'I' #define CANx CAN0 #define CANx_IRQn CAN0_IRQn @@ -234,13 +249,18 @@ compute_btr(uint32_t pclock, uint32_t bitrate) void can_init(void) { +#if CONFIG_HAVE_SAMD_USB if (!CONFIG_USB) { // The FDCAN peripheral only seems to run if at least one // other peripheral is also enabled. enable_pclock(USB_GCLK_ID, ID_USB); USB->DEVICE.CTRLA.reg = USB_CTRLA_ENABLE; } +#endif +#if CONFIG_MACH_SAMC21 + MCLK->AHBMASK.reg |= MCLK_AHBMASK_CANx; +#endif enable_pclock(CANx_GCLK_ID, -1); gpio_peripheral(GPIO_Rx, CAN_FUNCTION, 1); |