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can: add CAN FD support to STM32G4 and native architecture #20428

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can: add CAN FD support to STM32G4 and native architecture #20428

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80aee7b
can: use frame len instead of can_dlc
gdoffe Apr 5, 2024
99d7cb3
can: introduce typedef can_frame_t
gdoffe Feb 16, 2024
0b03226
makefiles: introduce fdcan pseudomodule
gdoffe Jan 24, 2024
f1163c3
can: add CAN FD configuration
gdoffe Jan 24, 2024
6c02337
can: introduce loop_delay
gdoffe Feb 23, 2024
42da782
cpu/stm32: add FDCAN support to STM32G4 family
gdoffe Apr 5, 2024
e826ec8
cpu/native: enable CAN FD support
gdoffe Jan 23, 2024
1d31978
boards/nucleo-g431rb: enable periph_can
gdoffe Dec 19, 2023
3347170
tests/conn_can: make test support CAN FD
gdoffe Jan 26, 2024
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1 change: 1 addition & 0 deletions boards/nucleo-g431rb/Makefile.features
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,7 @@ CPU = stm32
CPU_MODEL = stm32g431rb

# Put defined MCU peripherals here (in alphabetical order)
FEATURES_PROVIDED += periph_can
FEATURES_PROVIDED += periph_i2c
FEATURES_PROVIDED += periph_pwm
FEATURES_PROVIDED += periph_rtc
Expand Down
4 changes: 2 additions & 2 deletions cpu/esp32/periph/can.c
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Expand Up @@ -240,7 +240,7 @@ static int _esp_can_send(candev_t *candev, const struct can_frame *frame)
/* prepare the frame as expected by ESP32 */
twai_hal_frame_t esp_frame = { };

esp_frame.dlc = frame->can_dlc;
esp_frame.dlc = frame->len;
esp_frame.rtr = (frame->can_id & CAN_RTR_FLAG);
esp_frame.frame_format = (frame->can_id & CAN_EFF_FLAG);

Expand Down Expand Up @@ -825,7 +825,7 @@ static void IRAM_ATTR _esp_can_intr_handler(void *arg)
}
frame.can_id |= esp_frame.rtr ? CAN_RTR_FLAG : 0;
frame.can_id |= esp_frame.frame_format ? CAN_EFF_FLAG : 0;
frame.can_dlc = esp_frame.dlc;
frame.len = esp_frame.dlc;

/* apply acceptance filters only if they are set */
unsigned f_id = 0;
Expand Down
2 changes: 2 additions & 0 deletions cpu/native/Makefile.dep
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Original file line number Diff line number Diff line change
Expand Up @@ -52,3 +52,5 @@ USEMODULE += periph

# UART is needed by startup.c
USEMODULE += periph_uart

USEMODULE += fdcan
30 changes: 17 additions & 13 deletions cpu/native/periph/can.c
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Expand Up @@ -44,11 +44,11 @@
#include "debug.h"

static int _init(candev_t *candev);
static int _send(candev_t *candev, const struct can_frame *frame);
static int _send(candev_t *candev, const can_frame_t *frame);
static void _isr(candev_t *candev);
static int _set(candev_t *candev, canopt_t opt, void *value, size_t value_len);
static int _get(candev_t *candev, canopt_t opt, void *value, size_t max_len);
static int _abort(candev_t *candev, const struct can_frame *frame);
static int _abort(candev_t *candev, const can_frame_t *frame);
static int _set_filter(candev_t *candev, const struct can_filter *filter);
static int _remove_filter(candev_t *candev, const struct can_filter *filter);
static int _power_up(candev_t *candev);
Expand All @@ -67,7 +67,7 @@ static const candev_driver_t candev_linux_driver = {
.remove_filter = _remove_filter,
};

static candev_event_t _can_error_to_can_evt(struct can_frame can_frame_err);
static candev_event_t _can_error_to_can_evt(can_frame_t can_frame_err);
static void _callback_can_sigio(int sock, void *arg);

can_conf_t candev_conf[CAN_DLL_NUMOF] = {
Expand All @@ -94,7 +94,7 @@ int can_init(can_t *dev, const can_conf_t *conf)
return 0;
}

static candev_event_t _can_error_to_can_evt(struct can_frame can_frame_err)
static candev_event_t _can_error_to_can_evt(can_frame_t can_frame_err)
{
candev_event_t can_evt = CANDEV_EVENT_NOEVENT;
can_err_mask_t can_err_type = can_frame_err.can_id & CAN_ERR_MASK;
Expand All @@ -103,7 +103,7 @@ static candev_event_t _can_error_to_can_evt(struct can_frame can_frame_err)
can_evt = CANDEV_EVENT_TX_ERROR;
}
else if (can_err_type & CAN_ERR_CRTL) {
switch(can_frame_err.data[1]) {
switch (can_frame_err.data[1]) {
case CAN_ERR_CRTL_RX_OVERFLOW:
can_evt = CANDEV_EVENT_RX_ERROR;
break;
Expand Down Expand Up @@ -168,7 +168,11 @@ static int _init(candev_t *candev)
can_err_mask_t err_mask = CAN_ERR_TX_TIMEOUT |
CAN_ERR_BUSOFF |
CAN_ERR_CRTL;
ret = real_setsockopt(dev->sock, SOL_CAN_RAW, CAN_RAW_ERR_FILTER,
ret = real_setsockopt(dev->sock, SOL_CAN_RAW,
#ifdef MODULE_FDCAN
CAN_RAW_FD_FRAMES |
#endif
CAN_RAW_ERR_FILTER,
&err_mask, sizeof(err_mask));

if (ret < 0) {
Expand Down Expand Up @@ -210,14 +214,14 @@ static int _init(candev_t *candev)
return 0;
}

static int _send(candev_t *candev, const struct can_frame *frame)
static int _send(candev_t *candev, const can_frame_t *frame)
{
int nbytes;
can_t *dev = (can_t *)candev;

nbytes = real_write(dev->sock, frame, sizeof(struct can_frame));
nbytes = real_write(dev->sock, frame, sizeof(can_frame_t));

if (nbytes < frame->can_dlc) {
if (nbytes < frame->len) {
real_printf("CAN write op failed, nbytes=%i\n", nbytes);
return -1;
}
Expand All @@ -232,22 +236,22 @@ static int _send(candev_t *candev, const struct can_frame *frame)
static void _isr(candev_t *candev)
{
int nbytes;
struct can_frame rcv_frame;
can_frame_t rcv_frame;
can_t *dev = (can_t *)candev;

if (dev == NULL) {
return;
}

DEBUG("candev_native _isr: CAN SIGIO interrupt received, sock = %i\n", dev->sock);
nbytes = real_read(dev->sock, &rcv_frame, sizeof(struct can_frame));
nbytes = real_read(dev->sock, &rcv_frame, sizeof(can_frame_t));

if (nbytes < 0) { /* SIGIO signal was probably due to an error with the socket */
DEBUG("candev_native _isr: read: error during read\n");
return;
}

if (nbytes < (int)sizeof(struct can_frame)) {
if (nbytes < (int)sizeof(can_frame_t)) {
DEBUG("candev_native _isr: read: incomplete CAN frame\n");
return;
}
Expand Down Expand Up @@ -544,7 +548,7 @@ static int _remove_filter(candev_t *candev, const struct can_filter *filter)
return 0;
}

static int _abort(candev_t *candev, const struct can_frame *frame)
static int _abort(candev_t *candev, const can_frame_t *frame)
{
(void)frame;
(void)candev;
Expand Down
6 changes: 6 additions & 0 deletions cpu/stm32/Makefile.dep
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Original file line number Diff line number Diff line change
Expand Up @@ -85,6 +85,12 @@ ifneq (,$(filter periph_adc,$(FEATURES_USED)))
endif
endif

ifneq (,$(filter periph_can,$(FEATURES_USED)))
ifneq (,$(filter g4,$(CPU_FAM)))
USEMODULE += fdcan
endif
endif

ifneq (,$(filter periph_vbat,$(USEMODULE)))
FEATURES_REQUIRED += periph_adc
endif
Expand Down
10 changes: 9 additions & 1 deletion cpu/stm32/include/can_params.h
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Expand Up @@ -30,7 +30,15 @@ extern "C" {
/** Default STM32 CAN devices config */
static const can_conf_t candev_conf[] = {
{
#if defined(CPU_FAM_STM32F0)
#if defined(CPU_FAM_STM32G4)
.can = FDCAN1,
.rcc_mask = RCC_APB1ENR1_FDCANEN,
.rx_pin = GPIO_PIN(PORT_A, 11),
.tx_pin = GPIO_PIN(PORT_A, 12),
.af = GPIO_AF9,
.it0_irqn = FDCAN1_IT0_IRQn,
.it1_irqn = FDCAN1_IT1_IRQn,
#elif defined(CPU_FAM_STM32F0)
.can = CAN,
.rcc_mask = RCC_APB1ENR_CANEN,
.rx_pin = GPIO_PIN(PORT_A, 11),
Expand Down
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