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// Serial over CAN emulation for rp2040 using can2040 software canbus
//
// Copyright (C) 2022 Kevin O'Connor <kevin@koconnor.net>
//
// This file may be distributed under the terms of the GNU GPLv3 license.
#include <stdint.h> // uint32_t
#include <string.h> // memcpy
#include "autoconf.h" // CONFIG_CANBUS_FREQUENCY
#include "board/armcm_boot.h" // armcm_enable_irq
#include "board/io.h" // readl
#include "can2040.h" // can2040_setup
#include "command.h" // DECL_CONSTANT_STR
#include "fasthash.h" // fasthash64
#include "generic/canbus.h" // canbus_notify_tx
#include "generic/canserial.h" // CANBUS_ID_ADMIN
#include "hardware/structs/resets.h" // RESETS_RESET_PIO0_BITS
#include "internal.h" // DMA_IRQ_0_IRQn
#include "sched.h" // DECL_INIT
#define GPIO_STR_CAN_RX "gpio" __stringify(CONFIG_RPXXXX_CANBUS_GPIO_RX)
#define GPIO_STR_CAN_TX "gpio" __stringify(CONFIG_RPXXXX_CANBUS_GPIO_TX)
DECL_CONSTANT_STR("RESERVE_PINS_CAN", GPIO_STR_CAN_RX "," GPIO_STR_CAN_TX);
static struct can2040 cbus;
// Transmit a packet
int
canhw_send(struct canbus_msg *msg)
{
int ret = can2040_transmit(&cbus, (void*)msg);
if (ret < 0)
return -1;
return CANMSG_DATA_LEN(msg);
}
// Setup the receive packet filter
void
canhw_set_filter(uint32_t id)
{
// Filter not implemented (and not necessary)
}
// can2040 callback function - handle rx and tx notifications
static void
can2040_cb(struct can2040 *cd, uint32_t notify, struct can2040_msg *msg)
{
if (notify & CAN2040_NOTIFY_TX) {
canbus_notify_tx();
return;
}
if (notify & CAN2040_NOTIFY_RX)
canbus_process_data((void*)msg);
}
// Main PIO irq handler
void
PIOx_IRQHandler(void)
{
can2040_pio_irq_handler(&cbus);
}
void
can_init(void)
{
// Setup canbus
can2040_setup(&cbus, 0);
can2040_callback_config(&cbus, can2040_cb);
// Enable irqs
armcm_enable_irq(PIOx_IRQHandler, PIO0_IRQ_0_IRQn, 1);
// Start canbus
uint32_t pclk = get_pclock_frequency(RESETS_RESET_PIO0_RESET);
can2040_start(&cbus, pclk, CONFIG_CANBUS_FREQUENCY
, CONFIG_RPXXXX_CANBUS_GPIO_RX, CONFIG_RPXXXX_CANBUS_GPIO_TX);
}
DECL_INIT(can_init);
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