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drivers/can: add Kvaser PCI card driver (qemu only)
add Kvaser PCI card driver support, works only with QEMU now: https://www.qemu.org/docs/master/system/devices/can.html#examples-how-to-use-can-emulation-for-sja1000-based-boards Signed-off-by: p-szafonimateusz <p-szafonimateusz@xiaomi.com>
This commit is contained in:
p-szafonimateusz
Xiang Xiao
parent
0df0a105d1
commit
033f203e2a
7 changed files with 1952 additions and 10 deletions
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@ -20,12 +20,18 @@
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#
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# ##############################################################################
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set(SRCS)
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if(CONFIG_CAN)
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set(SRCS can.c can_sender.c)
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if(CONFIG_CAN_MCP2515)
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list(APPEND SRCS mcp2515.c)
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endif()
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target_sources(drivers PRIVATE ${SRCS})
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endif()
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if(CONFIG_CAN_MCP2515)
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list(APPEND SRCS mcp2515.c)
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endif()
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if(CONFIG_CAN_KVASER)
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list(APPEND SRCS kvaser_pci.c)
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endif()
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target_sources(drivers PRIVATE ${SRCS})
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@ -7,8 +7,10 @@ config ARCH_HAVE_CAN_ERRORS
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bool
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default n
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menuconfig CAN
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bool "CAN Driver Support"
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menu "CAN Driver Support"
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config CAN
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bool "CAN Character Driver Support"
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default n
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---help---
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This selection enables building of the "upper-half" CAN driver.
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@ -267,3 +269,34 @@ config CAN_SJA1000_DEBUG
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endif # CAN_SJA1000
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endif # CAN
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config CAN_KVASER
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bool "Kvaser PCI CAN card"
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default n
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depends on PCI
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---help---
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Enable driver support for Kvase PCI CAN card.
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NOTE: for now works only with QEMU
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if CAN_KVASER
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choice
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prompt "Kvaser PCI CAN device type"
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default CAN_KVASER_CHARDEV if CAN
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default CAN_KVASER_SOCKET if NET_CAN
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config CAN_KVASER_CHARDEV
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bool "Kvaser PCI can device as chardev"
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depends on CAN
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select ARCH_HAVE_CAN_ERRORS
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config CAN_KVASER_SOCKET
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bool "Kvaser PCI can device as socketCAN"
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depends on NET_CAN
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select NET_CAN_HAVE_ERRORS
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endchoice # "Kvaser PCI CAN device type"
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endif # CAN_KVASER
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endmenu # CAN Driver Support
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@ -23,8 +23,8 @@
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# Don't build anything if there is no CAN support
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ifeq ($(CONFIG_CAN),y)
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CSRCS += can.c can_sender.c
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endif
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ifeq ($(CONFIG_CAN_MCP2515),y)
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CSRCS += mcp2515.c
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@ -34,9 +34,12 @@ ifeq ($(CONFIG_CAN_SJA1000),y)
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CSRCS += sja1000.c
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endif
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ifeq ($(CONFIG_CAN_KVASER),y)
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CSRCS += kvaser_pci.c
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endif
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# Include CAN device driver build support
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DEPPATH += --dep-path can
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VPATH += :can
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CFLAGS += ${INCDIR_PREFIX}$(TOPDIR)$(DELIM)drivers$(DELIM)can
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endif
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1814
drivers/can/kvaser_pci.c
Normal file
1814
drivers/can/kvaser_pci.c
Normal file
File diff suppressed because it is too large
Load diff
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@ -29,6 +29,8 @@
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#include <nuttx/config.h>
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#include <nuttx/bits.h>
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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@ -48,6 +50,10 @@
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#define SJA1000_MODE_REG (0x00)
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/* Sleep mode */
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#define SJA1000_SLEEP_MODE (BIT(4))
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/* SJA1000_RX_FILTER_MODE : R/W; bitpos: [3]; default: 0;
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* This bit is used to configure the filter mode. 0: Dual filter mode; 1:
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* Single filter mode.
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@ -458,6 +464,10 @@
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#define SJA1000_TIME_SEG1_V 0x0000000F
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#define SJA1000_TIME_SEG1_S 0
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/* Output control */
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#define SJA1000_OUTCTRL_REG 0x08
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/* SJA1000_ARB_LOST_CAP_REG register
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* Arbitration Lost Capture Register
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*/
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@ -906,4 +916,10 @@
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#define SJA1000_CD_V 0x00000007
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#define SJA1000_CD_S 0
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/* Frame information */
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#define SJA1000_FI_DLC_MASK (0xf) /* Data length code bit */
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#define SJA1000_FI_RTR (BIT(6)) /* Remote transmission request */
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#define SJA1000_FI_FF (BIT(7)) /* Frame format */
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#endif /* __DRIVERS_CAN_SJA1000_H */
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@ -32,6 +32,7 @@
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#include <nuttx/virtio/virtio-pci.h>
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#include <nuttx/net/e1000.h>
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#include <nuttx/net/igc.h>
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#include <nuttx/can/kvaser_pci.h>
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#include "pci_drivers.h"
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@ -160,6 +161,16 @@ int pci_register_drivers(void)
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}
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#endif
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/* Initialzie Kvaser pci driver */
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#ifdef CONFIG_CAN_KVASER
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ret = pci_kvaser_init();
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if (ret < 0)
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{
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pcierr("pci_kvaser_init failed, ret=%d\n", ret);
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}
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#endif
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ret = pci_dev_register();
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if (ret < 0)
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{
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59
include/nuttx/can/kvaser_pci.h
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59
include/nuttx/can/kvaser_pci.h
Normal file
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@ -0,0 +1,59 @@
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/****************************************************************************
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* include/nuttx/can/kvaser_pci.h
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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#ifndef __INCLUDE_NUTTX_CAN_KVASER_H
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#define __INCLUDE_NUTTX_CAN_KVASER_H
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#ifdef __cplusplus
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#define EXTERN extern "C"
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extern "C"
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{
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#else
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#define EXTERN extern
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#endif
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/****************************************************************************
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* Public Function Prototypes
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****************************************************************************/
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/****************************************************************************
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* Name: pci_kvaser_init
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*
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* Description:
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* Register a pci driver
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*
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****************************************************************************/
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int pci_kvaser_init(void);
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#undef EXTERN
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#ifdef __cplusplus
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}
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#endif
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#endif /* __INCLUDE_NUTTX_CAN_KVASER_H */
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