SC60开发板默认是不支持CAN接口的,需要外接转换芯片,选取MICROCHIP的MCP25625这一款。
芯片特点如下:
• Stand-Alone CAN 2.0B Controller with Integrated CAN Transceiver and Serial Peripheral
Interface (SPI)
• Up to 1 Mb/s Operation
• Very Low Standby Current (10 μA, typical)
• Up to 10 MHz SPI Clock Speed
• Interfaces Directly with Microcontrollers with 2.7V to 5.5V I/Os
• Available in SSOP-28L and 6x6 QFN-28L
• Temperature Ranges: - Extended (E): -40°C to +125°C
最主要的特点是集成了Transceiver,避免了外接Transceiver的电路,设计简单。
参考原理图:
osc1接8M晶振,CANL和CANH连接到外部CAN网络,串联120欧的阻抗匹配,使用4线SPI和主控通讯。
驱动参考:
/*
* CAN bus driver for Microchip 251x CAN Controller with SPI Interface
*
* MCP2510 support and bug fixes by Christian Pellegrin
* <[email protected]>
*
* Copyright 2009 Christian Pellegrin EVOL S.r.l.
*
* Copyright 2007 Raymarine UK, Ltd. All Rights Reserved.
* Written under contract by:
* Chris Elston, Katalix Systems, Ltd.
*
* Based on Microchip MCP251x CAN controller driver written by
* David Vrabel, Copyright 2006 Arcom Control Systems Ltd.
*
* Based on CAN bus driver for the CCAN controller written by
* - Sascha Hauer, Marc Kleine-Budde, Pengutronix
* - Simon Kallweit, intefo AG
* Copyright 2007
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the version 2 of the GNU General Public License
* as published by the Free Software Foundation
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*
*
* Your platform definition file should specify something like:
*
* static struct mcp251x_platform_data mcp251x_info = {
* .oscillator_frequency = 8000000,
* .board_specific_setup = &mcp251x_setup,
* .power_enable = mcp251x_power_enable,
* .transceiver_enable = NULL,
* };
*
* static struct spi_board_info spi_board_info[] = {
* {
* .modalias = "mcp2510",
* // or "mcp2515" depending on your controller
* .platform_data = &mcp251x_info,
* .irq = IRQ_EINT13,
* .max_speed_hz = 2*1000*1000,
* .chip_select = 2,
* },
* };
*
* Please see mcp251x.h for a description of the fields in
* struct mcp251x_platform_data.
*
*/
#include <linux/can/core.h>
#include <linux/can/dev.h>
#include <linux/can/led.h>
#include <linux/can/platform/mcp251x.h>
#include <linux/completion.h>
#include <linux/delay.h>
#include <linux/device.h>
#include <linux/dma-mapping.h>
#include <linux/freezer.h>
#include <linux/interrupt.h>
#include <linux/io.h>
#include <linux/kernel.h>
#include <linux/module.h>
#include <linux/netdevice.h>
#include <linux/platform_device.h>
#include <linux/slab.h>
#include <linux/spi/spi.h>
#include <linux/uaccess.h>
//stone added
#include <linux/of_gpio.h>
/* SPI interface instruction set */
#define INSTRUCTION_WRITE 0x02
#define INSTRUCTION_READ 0x03
#define INSTRUCTION_BIT_MODIFY 0x05
#define INSTRUCTION_LOAD_TXB(n) (0x40 + 2 * (n))
#define INSTRUCTION_READ_RXB(n) (((n) == 0) ? 0x90 : 0x94)
#define INSTRUCTION_RESET 0xC0
#define RTS_TXB0 0x01
#define RTS_TXB1 0x02
#define RTS_TXB2 0x04
#define INSTRUCTION_RTS(n) (0x80 | ((n) & 0x07))
/* MPC251x registers */
#define CANSTAT 0x0e
#define CANCTRL 0x0f
# define CANCTRL_REQOP_MASK 0xe0
# define CANCTRL_REQOP_CONF 0x80
# define CANCTRL_REQOP_LISTEN_ONLY 0x60
# define CANCTRL_REQOP_LOOPBACK 0x40
# define CANCTRL_REQOP_SLEEP 0x20
# define CANCTRL_REQOP_NORMAL 0x00
# define CANCTRL_OSM 0x08
# define CANCTRL_ABAT 0x10
#define TEC 0x1c
#define REC 0x1d
#define CNF1 0x2a
# define CNF1_SJW_SHIFT 6
#define CNF2 0x29
# define CNF2_BTLMODE 0x80
# define CNF2_SAM 0x40
# define CNF2_PS1_SHIFT 3
#define CNF3 0x28
# define CNF3_SOF 0x08
# define CNF3_WAKFIL 0x04
# define CNF3_PHSEG2_MASK 0x07
#define CANINTE 0x2b
# define CANINTE_MERRE 0x80
# define CANINTE_WAKIE 0x40
# define CANINTE_ERRIE 0x20
# define CANINTE_TX2IE 0x10
# define CANINTE_TX1IE 0x08
# define CANINTE_TX0IE 0x04
# define CANINTE_RX1IE 0x02
# define CANINTE_RX0IE 0x01
#define CANINTF 0x2c
# define CANINTF_MERRF 0x80
# define CANINTF_WAKIF 0x40
# define CANINTF_ERRIF 0x20
# define CANINTF_TX2IF 0x10
# define CANINTF_TX1IF 0x08
# define CANINTF_TX0IF 0x04
# define CANINTF_RX1IF 0x02
# define CANINTF_RX0IF 0x01
# define CANINTF_RX (CANINTF_RX0IF | CANINTF_RX1IF)
# define CANINTF_TX (CANINTF_TX2IF | CANINTF_TX1IF | CANINTF_TX0IF)
# define CANINTF_ERR (CANINTF_ERRIF)
#define EFLG 0x2d
# define EFLG_EWARN 0x01
# define EFLG_RXWAR 0x02
# define EFLG_TXWAR 0x04
# define EFLG_RXEP 0x08
# define EFLG_TXEP 0x10
# define EFLG_TXBO 0x20
# define EFLG_RX0OVR 0x40
# define EFLG_RX1OVR 0x80
#define TXBCTRL(n) (((n) * 0x10) + 0x30 + TXBCTRL_OFF)
# define TXBCTRL_ABTF 0x40
# define TXBCTRL_MLOA 0x20
# define TXBCTRL_TXERR 0x10
# define TXBCTRL_TXREQ 0x08
#define TXBSIDH(n) (((n) * 0x10) + 0x30 + TXBSIDH_OFF)
# define SIDH_SHIFT 3
#define TXBSIDL(n) (((n) * 0x10) + 0x30 + TXBSIDL_OFF)
# define SIDL_SID_MASK 7
# define SIDL_SID_SHIFT 5
# define SIDL_EXIDE_SHIFT 3
# define SIDL_EID_SHIFT 16
# define SIDL_EID_MASK 3
#define TXBEID8(n) (((n) * 0x10) + 0x30 + TXBEID8_OFF)
#define TXBEID0(n) (((n) * 0x10) + 0x30 + TXBEID0_OFF)
#define TXBDLC(n) (((n) * 0x10) + 0x30 + TXBDLC_OFF)
# define DLC_RTR_SHIFT 6
#define TXBCTRL_OFF 0
#define TXBSIDH_OFF 1
#define TXBSIDL_OFF 2
#define TXBEID8_OFF 3
#define TXBEID0_OFF 4
#define TXBDLC_OFF 5
#define TXBDAT_OFF 6
#define RXBCTRL(n) (((n) * 0x10) + 0x60 + RXBCTRL_OFF)
# define RXBCTRL_BUKT 0x04
# define RXBCTRL_RXM0 0x20
# define RXBCTRL_RXM1 0x40
#define RXBSIDH(n) (((n) * 0x10) + 0x60 + RXBSIDH_OFF)
# define RXBSIDH_SHIFT 3
#define RXBSIDL(n) (((n) * 0x10) + 0x60 + RXBSIDL_OFF)
# define RXBSIDL_IDE 0x08
# define RXBSIDL_SRR 0x10
# define RXBSIDL_EID 3
# define RXBSIDL_SHIFT 5
#define RXBEID8(n) (((n) * 0x10) + 0x60 + RXBEID8_OFF)
#define RXBEID0(n) (((n) * 0x10) + 0x60 + RXBEID0_OFF)
#define RXBDLC(n) (((n) * 0x10) + 0x60 + RXBDLC_OFF)
# define RXBDLC_LEN_MASK 0x0f
# define RXBDLC_RTR 0x40
#define RXBCTRL_OFF 0
#define RXBSIDH_OFF 1
#define RXBSIDL_OFF 2
#define RXBEID8_OFF 3
#define RXBEID0_OFF 4
#define RXBDLC_OFF 5
#define RXBDAT_OFF 6
#define RXFSIDH(n) ((n) * 4)
#define RXFSIDL(n) ((n) * 4 + 1)
#define RXFEID8(n) ((n) * 4 + 2)
#define RXFEID0(n) ((n) * 4 + 3)
#define RXMSIDH(n) ((n) * 4 + 0x20)
#define RXMSIDL(n) ((n) * 4 + 0x21)
#define RXMEID8(n) ((n) * 4 + 0x22)
#define RXMEID0(n) ((n) * 4 + 0x23)
#define GET_BYTE(val, byte) \
(((val) >> ((byte) * 8)) & 0xff)
#define SET_BYTE(val, byte) \
(((val) & 0xff) << ((byte) * 8))
/*
* Buffer size required for the largest SPI transfer (i.e., reading a
* frame)
*/
#define CAN_FRAME_MAX_DATA_LEN 8
#define SPI_TRANSFER_BUF_LEN (6 + CAN_FRAME_MAX_DATA_LEN)
#define CAN_FRAME_MAX_BITS 128
#define TX_ECHO_SKB_MAX 1
#define DEVICE_NAME "mcp25625"
static int mcp251x_enable_dma; /* Enable SPI DMA. Default: 0 (Off) */
module_param(mcp251x_enable_dma, int, S_IRUGO);
MODULE_PARM_DESC(mcp251x_enable_dma, "Enable SPI DMA. Default: 0 (Off)");
static const struct can_bittiming_const mcp251x_bittiming_const = {
.name = DEVICE_NAME,
.tseg1_min = 3,
.tseg1_max = 16,
.tseg2_min = 2,
.tseg2_max = 8,
.sjw_max = 4,
.brp_min = 1,
.brp_max = 64,
.brp_inc = 1,
};
enum mcp251x_model {
CAN_MCP251X_MCP2510 = 0x2510,
CAN_MCP251X_MCP2515 = 0x2515,
};
struct mcp251x_priv {
struct can_priv can;
struct net_device *net;
struct spi_device *spi;
enum mcp251x_model model;
struct mutex mcp_lock; /* SPI device lock */
u8 *spi_tx_buf;
u8 *spi_rx_buf;
dma_addr_t spi_tx_dma;
dma_addr_t spi_rx_dma;
struct sk_buff *tx_skb;
int tx_len;
struct workqueue_struct *wq;
struct work_struct tx_work;
struct work_struct restart_work;
//stone added
struct work_struct irq_work;
int force_quit;
int after_suspend;
#define AFTER_SUSPEND_UP 1
#define AFTER_SUSPEND_DOWN 2
#define AFTER_SUSPEND_POWER 4
#define AFTER_SUSPEND_RESTART 8
int restart_tx;
};
#define MCP251X_IS(_model) \
static inline int mcp251x_is_##_model(struct spi_device *spi) \
{ \
struct mcp251x_priv *priv = spi_get_drvdata(spi); \
return priv->model == CAN_MCP251X_MCP##_model; \
}
MCP251X_IS(2510);
MCP251X_IS(2515);
//Begin:stone added
static struct mcp251x_platform_data mcp251x_info = {
.oscillator_frequency = 8000000,
//.board_specific_setup = &mcp251x_setup,
//.power_enable = mcp251x_power_enable,
.transceiver_enable = NULL,
};
//End:stone added
static void mcp251x_clean(struct net_device *net)
{
struct mcp251x_priv *priv = netdev_priv(net);
if (priv->tx_skb || priv->tx_len)
net->stats.tx_errors++;
if (priv->tx_skb)
dev_kfree_skb(priv->tx_skb);
if (priv->tx_len)
can_free_echo_skb(priv->net, 0);
priv->tx_skb = NULL;
priv->tx_len = 0;
}
/*
* Note about handling of error return of mcp251x_spi_trans: accessing
* registers via SPI is not really different conceptually than using
* normal I/O assembler instructions, although it's much more
* complicated from a practical POV. So it's not advisable to always
* check the return value of this function. Imagine that every
* read{b,l}, write{b,l} and friends would be bracketed in "if ( < 0)
* error();", it would be a great mess (well there are some situation
* when exception handling C++ like could be useful after all). So we
* just check that transfers are OK at the beginning of our
* conversation with the chip and to avoid doing really nasty things
* (like injecting bogus packets in the network stack).
*/
static int mcp251x_spi_trans(struct spi_device *spi, int len)
{
struct mcp251x_priv *priv = spi_get_drvdata(spi);
struct spi_transfer t = {
.tx_buf = priv->spi_tx_buf,
.rx_buf = priv->spi_rx_buf,
.len = len,
.cs_change = 0,
};
struct spi_message m;
int ret;
spi_message_init(&m);
if (mcp251x_enable_dma) {
t.tx_dma = priv->spi_tx_dma;
t.rx_dma = priv->spi_rx_dma;
m.is_dma_mapped = 1;
}
spi_message_add_tail(&t, &m);
ret = spi_sync(spi, &m);
if (ret)
dev_err(&spi->dev, "spi transfer failed: ret = %d\n", ret);
return ret;
}
static u8 mcp251x_read_reg(struct spi_device *spi, uint8_t reg)
{
struct mcp251x_priv *priv = spi_get_drvdata(spi);
u8 val = 0;
priv->spi_tx_buf[0] = INSTRUCTION_READ;
priv->spi_tx_buf[1] = reg;
mcp251x_spi_trans(spi, 3);
val = priv->spi_rx_buf[2];
return val;
}
static void mcp251x_read_2regs(struct spi_device *spi, uint8_t reg,
uint8_t *v1, uint8_t *v2)
{
struct mcp251x_priv *priv = spi_get_drvdata(spi);
priv->spi_tx_buf[0] = INSTRUCTION_READ;
priv->spi_tx_buf[1] = reg;
mcp251x_spi_trans(spi, 4);
*v1 = priv->spi_rx_buf[2];
*v2 = priv->spi_rx_buf[3];
}
static void mcp251x_write_reg(struct spi_device *spi, u8 reg, uint8_t val)
{
struct mcp251x_priv *priv = spi_get_drvdata(spi);
priv->spi_tx_buf[0] = INSTRUCTION_WRITE;
priv->spi_tx_buf[1] = reg;
priv->spi_tx_buf[2] = val;
mcp251x_spi_trans(spi, 3);
}
static void mcp251x_write_bits(struct spi_device *spi, u8 reg,
u8 mask, uint8_t val)
{
struct mcp251x_priv *priv = spi_get_drvdata(spi);
priv->spi_tx_buf[0] = INSTRUCTION_BIT_MODIFY;
priv->spi_tx_buf[1] = reg;
priv->spi_tx_buf[2] = mask;
priv->spi_tx_buf[3] = val;
mcp251x_spi_trans(spi, 4);
}
static void mcp251x_hw_tx_frame(struct spi_device *spi, u8 *buf,
int len, int tx_buf_idx)
{
struct mcp251x_priv *priv = spi_get_drvdata(spi);
//stone added
dev_err(&spi->dev, "-----mcp251x_hw_tx_frame-----");
//stone modify
if (mcp251x_is_2510(spi)) {
//if(1){
int i;
for (i = 1; i < TXBDAT_OFF &#