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>

drivers/can/CMakeLists.txt

@@ -20,12 +20,18 @@
 #
 # ##############################################################################
 
+set(SRCS)
+
 if(CONFIG_CAN)
   set(SRCS can.c can_sender.c)
-
-  if(CONFIG_CAN_MCP2515)
-    list(APPEND SRCS mcp2515.c)
-  endif()
-
-  target_sources(drivers PRIVATE ${SRCS})
 endif()
+
+if(CONFIG_CAN_MCP2515)
+  list(APPEND SRCS mcp2515.c)
+endif()
+
+if(CONFIG_CAN_KVASER)
+  list(APPEND SRCS kvaser_pci.c)
+endif()
+
+target_sources(drivers PRIVATE ${SRCS})

drivers/can/Kconfig

@@ -7,8 +7,10 @@ config ARCH_HAVE_CAN_ERRORS
 	bool
 	default n
 
-menuconfig CAN
-	bool "CAN Driver Support"
+menu "CAN Driver Support"
+
+config CAN
+	bool "CAN Character Driver Support"
 	default n
 	---help---
 		This selection enables building of the "upper-half" CAN driver.
@@ -267,3 +269,34 @@ config CAN_SJA1000_DEBUG
 endif # CAN_SJA1000
 
 endif # CAN
+
+config CAN_KVASER
+	bool "Kvaser PCI CAN card"
+	default n
+	depends on PCI
+	---help---
+		Enable driver support for Kvase PCI CAN card.
+		NOTE: for now works only with QEMU
+
+if CAN_KVASER
+
+choice
+	prompt "Kvaser PCI CAN device type"
+	default CAN_KVASER_CHARDEV if CAN
+	default CAN_KVASER_SOCKET if NET_CAN
+
+config CAN_KVASER_CHARDEV
+	bool "Kvaser PCI can device as chardev"
+	depends on CAN
+	select ARCH_HAVE_CAN_ERRORS
+
+config CAN_KVASER_SOCKET
+	bool "Kvaser PCI can device as socketCAN"
+	depends on NET_CAN
+	select NET_CAN_HAVE_ERRORS
+
+endchoice # "Kvaser PCI CAN device type"
+
+endif # CAN_KVASER
+
+endmenu # CAN Driver Support

drivers/can/Make.defs

@@ -23,8 +23,8 @@
 # Don't build anything if there is no CAN support
 
 ifeq ($(CONFIG_CAN),y)
-
 CSRCS += can.c can_sender.c
+endif
 
 ifeq ($(CONFIG_CAN_MCP2515),y)
 CSRCS += mcp2515.c
@@ -34,9 +34,12 @@ ifeq ($(CONFIG_CAN_SJA1000),y)
   CSRCS += sja1000.c
 endif
 
+ifeq ($(CONFIG_CAN_KVASER),y)
+CSRCS += kvaser_pci.c
+endif
+
 # Include CAN device driver build support
 
 DEPPATH += --dep-path can
 VPATH += :can
 CFLAGS += ${INCDIR_PREFIX}$(TOPDIR)$(DELIM)drivers$(DELIM)can
-endif

drivers/can/sja1000.h

@@ -29,6 +29,8 @@
 
 #include <nuttx/config.h>
 
+#include <nuttx/bits.h>
+
 /****************************************************************************
  * Pre-processor Definitions
  ****************************************************************************/
@@ -48,6 +50,10 @@
 
 #define SJA1000_MODE_REG         (0x00)
 
+/* Sleep mode */
+
+#define SJA1000_SLEEP_MODE       (BIT(4))
+
 /* SJA1000_RX_FILTER_MODE : R/W; bitpos: [3]; default: 0;
  * This bit is used to configure the filter mode. 0: Dual filter mode; 1:
  * Single filter mode.
@@ -458,6 +464,10 @@
 #define SJA1000_TIME_SEG1_V                0x0000000F
 #define SJA1000_TIME_SEG1_S                0
 
+/* Output control */
+
+#define SJA1000_OUTCTRL_REG                0x08
+
 /* SJA1000_ARB_LOST_CAP_REG register
  * Arbitration Lost Capture Register
  */
@@ -906,4 +916,10 @@
 #define SJA1000_CD_V                        0x00000007
 #define SJA1000_CD_S                        0
 
+/* Frame information */
+
+#define SJA1000_FI_DLC_MASK                 (0xf)    /* Data length code bit */
+#define SJA1000_FI_RTR                      (BIT(6)) /* Remote transmission request */
+#define SJA1000_FI_FF                       (BIT(7)) /* Frame format */
+
 #endif /* __DRIVERS_CAN_SJA1000_H */

drivers/pci/pci_drivers.c

@@ -32,6 +32,7 @@
 #include <nuttx/virtio/virtio-pci.h>
 #include <nuttx/net/e1000.h>
 #include <nuttx/net/igc.h>
+#include <nuttx/can/kvaser_pci.h>
 
 #include "pci_drivers.h"
 
@@ -160,6 +161,16 @@ int pci_register_drivers(void)
     }
 #endif
 
+  /* Initialzie Kvaser pci driver */
+
+#ifdef CONFIG_CAN_KVASER
+  ret = pci_kvaser_init();
+  if (ret < 0)
+    {
+      pcierr("pci_kvaser_init failed, ret=%d\n", ret);
+    }
+#endif
+
   ret = pci_dev_register();
   if (ret < 0)
     {

include/nuttx/can/kvaser_pci.h

@@ -0,0 +1,59 @@
+/****************************************************************************
+ * include/nuttx/can/kvaser_pci.h
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __INCLUDE_NUTTX_CAN_KVASER_H
+#define __INCLUDE_NUTTX_CAN_KVASER_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#ifdef __cplusplus
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: pci_kvaser_init
+ *
+ * Description:
+ *   Register a pci driver
+ *
+ ****************************************************************************/
+
+int pci_kvaser_init(void);
+
+#undef EXTERN
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __INCLUDE_NUTTX_CAN_KVASER_H */