Merge pull request #46 from bcmi-labs/can-h33-rebased

Implement CAN FD support for Portenta H33 #2

Author: facchinm

cores/arduino/IRQManager.cpp

@@ -31,6 +31,7 @@
 #define TIMER_PRIORITY             12
 #define ADC_PRIORITY               12
 #define CAN_PRIORITY               12
+#define CANFD_PRIORITY             12
 #define FIRST_INT_SLOT_FREE         0
 
 IRQManager::IRQManager() : last_interrupt_index{0} {
@@ -868,19 +869,7 @@ bool IRQManager::addPeripheral(Peripheral_t p, void *cfg) {
        ********************************************************************** */
     else if(p == IRQ_CAN && cfg != NULL) {
       if ((last_interrupt_index + CAN_REQ_NUM) < PROG_IRQ_NUM ) {
-#  if IS_CAN_FD
-        canfd_instance_ctrl_t * p_ctrl = reinterpret_cast<CanIrqReq_t *>(cfg)->ctrl;
-        #define can_error_isr canfd_error_isr
-        #define can_rx_isr canfd_rx_fifo_isr
-        #define can_tx_isr canfd_channel_tx_isr
-        // TODO: ATTENTION:
-        // this is just a workaround, CANFD interrupts are different and somehow
-        // more specialized
-        // This is not expected to work until set_can_error_link_event and similar functions
-        // are ported
-#  else
         can_instance_ctrl_t * p_ctrl = reinterpret_cast<CanIrqReq_t *>(cfg)->ctrl;
-#  endif
         can_cfg_t * p_cfg  = reinterpret_cast<CanIrqReq_t *>(cfg)->cfg;
         p_cfg->ipl = CAN_PRIORITY; /* All interrupts share the same priority. */
 
@@ -908,6 +897,7 @@ bool IRQManager::addPeripheral(Peripheral_t p, void *cfg) {
     }
 #endif /* CAN_HOWMANY > 0 */
 
+
 #if ETHERNET_HOWMANY > 0
     /* **********************************************************************
                                     ETHERNET
@@ -926,6 +916,41 @@ bool IRQManager::addPeripheral(Peripheral_t p, void *cfg) {
         }
     }
 #endif
+
+#if CANFD_HOWMANY > 0
+    /* **********************************************************************
+                                      CANFD
+       ********************************************************************** */
+    else if(p == IRQ_CANFD && cfg != NULL) {
+      if ((last_interrupt_index + CAN_REQ_NUM) < PROG_IRQ_NUM ) {
+        canfd_instance_ctrl_t * p_ctrl = reinterpret_cast<CanFdIrqReq_t *>(cfg)->ctrl;
+        can_cfg_t * p_cfg  = reinterpret_cast<CanFdIrqReq_t *>(cfg)->cfg;
+        p_cfg->ipl = CAN_PRIORITY; /* All interrupts share the same priority. */
+
+        /* Error interrupt */
+        p_cfg->error_irq = (IRQn_Type)last_interrupt_index;
+        *(irq_ptr + last_interrupt_index) = (uint32_t)canfd_error_isr;
+        set_canfd_error_link_event(last_interrupt_index, p_cfg->channel);
+        R_BSP_IrqCfgEnable(p_cfg->error_irq, p_cfg->ipl, p_ctrl);
+        last_interrupt_index++;
+
+        /* Receive interrupt */
+        p_cfg->rx_irq = (IRQn_Type)last_interrupt_index;
+        *(irq_ptr + last_interrupt_index) = (uint32_t)canfd_rx_fifo_isr;
+        set_canfd_rx_link_event(last_interrupt_index, p_cfg->channel);
+        R_BSP_IrqCfgEnable(p_cfg->rx_irq, p_cfg->ipl, p_ctrl);
+        last_interrupt_index++;
+
+        /* Transmit interrupt */
+        p_cfg->tx_irq = (IRQn_Type)last_interrupt_index;
+        *(irq_ptr + last_interrupt_index) = (uint32_t)canfd_channel_tx_isr;
+        set_canfd_tx_link_event(last_interrupt_index, p_cfg->channel);
+        R_BSP_IrqCfgEnable(p_cfg->tx_irq, p_cfg->ipl, p_ctrl);
+        last_interrupt_index++;
+      }
+    }
+#endif /* CANFD_HOWMANY > 0 */
+
     else {
         rv = false;
     }
@@ -1666,6 +1691,51 @@ void IRQManager::set_can_tx_link_event(int li, int ch)
 #endif
 }
 
+void IRQManager::set_canfd_error_link_event(int li, int ch)
+{
+  if (0) {}
+#ifdef ELC_EVENT_CAN0_CHERR
+  else if(ch == 0) {
+    R_ICU->IELSR[li] = BSP_PRV_IELS_ENUM(EVENT_CAN0_CHERR);
+  }
+#endif
+#ifdef ELC_EVENT_CAN1_CHERR
+  else if(ch == 1) {
+    R_ICU->IELSR[li] = BSP_PRV_IELS_ENUM(EVENT_CAN1_CHERR);
+  }
+#endif
+}
+
+void IRQManager::set_canfd_rx_link_event(int li, int ch)
+{
+  if (0) {}
+#ifdef ELC_EVENT_CAN0_COMFRX
+  else if(ch == 0) {
+    R_ICU->IELSR[li] = BSP_PRV_IELS_ENUM(EVENT_CAN0_COMFRX);
+  }
+#endif
+#ifdef ELC_EVENT_CAN1_COMFRX
+  else if(ch == 1) {
+    R_ICU->IELSR[li] = BSP_PRV_IELS_ENUM(EVENT_CAN1_COMFRX);
+  }
+#endif
+}
+
+void IRQManager::set_canfd_tx_link_event(int li, int ch)
+{
+  if (0) {}
+#ifdef ELC_EVENT_CAN0_TX
+  else if(ch == 0) {
+    R_ICU->IELSR[li] = BSP_PRV_IELS_ENUM(EVENT_CAN0_TX);
+  }
+#endif
+#ifdef ELC_EVENT_CAN1_TX
+  else if(ch == 1) {
+    R_ICU->IELSR[li] = BSP_PRV_IELS_ENUM(EVENT_CAN1_TX);
+  }
+#endif
+}
+
 bool IRQManager::set_dma_link_event(int li, int ch) {
     bool rv = false;
     if (0) {}

cores/arduino/IRQManager.h

@@ -41,7 +41,8 @@ typedef enum {
     IRQ_SPI_MASTER,
     IRQ_SCI_SPI_MASTER,
     IRQ_CAN,
-    IRQ_ETHERNET
+    IRQ_ETHERNET,
+    IRQ_CANFD,
 } Peripheral_t;
 
 #if RTC_HOWMANY > 0
@@ -99,22 +100,21 @@ typedef struct sci_spi_master_irq {
 #endif
 
 #if CAN_HOWMANY > 0
-# if IS_CAN_FD
-#  include "r_canfd.h"
-# else
-#  include "r_can.h"
-# endif
-
+# include "r_can.h"
 typedef struct can_irq {
-#if IS_CAN_FD
-  canfd_instance_ctrl_t * ctrl;
-#else
   can_instance_ctrl_t * ctrl;
-#endif
   can_cfg_t * cfg;
 } CanIrqReq_t;
 #endif /* CAN_HOWMANY > 0 */
 
+#if CANFD_HOWMANY > 0
+# include "r_canfd.h"
+typedef struct canfd_irq {
+  canfd_instance_ctrl_t * ctrl;
+  can_cfg_t * cfg;
+} CanFdIrqReq_t;
+#endif /* CANFD_HOWMANY > 0 */
+
 typedef struct usb {
     uint32_t num_of_irqs_required;
     uint32_t address_of_handler;
@@ -177,6 +177,9 @@ void can_error_isr(void);
 void can_rx_isr(void);
 void can_tx_isr(void);
 void ether_eint_isr (void);
+void canfd_error_isr(void);
+void canfd_rx_fifo_isr(void);
+void canfd_channel_tx_isr(void);
 #ifdef __cplusplus
 }
 #endif
@@ -244,6 +247,10 @@ class IRQManager {
     void set_can_rx_link_event(int li, int ch);
     void set_can_tx_link_event(int li, int ch);
 
+    void set_canfd_error_link_event(int li, int ch);
+    void set_canfd_rx_link_event(int li, int ch);
+    void set_canfd_tx_link_event(int li, int ch);
+
     bool set_dma_link_event(int li, int ch);
     IRQManager();
 };

cores/arduino/Interrupts.cpp

@@ -80,15 +80,14 @@ static int pin2IrqChannel(int pin) {
     return -1;
   }
   /* getting configuration from table */
-  const uint16_t *cfg = g_pin_cfg[pin].list;
-  uint16_t cfg_irq = getPinCfg(cfg, PIN_CFG_REQ_INTERRUPT,false);
+  auto cfg_irq = getPinCfgs(pin, PIN_CFG_REQ_INTERRUPT);
 
   /* verify configuration are good */
-  if(cfg_irq == 0) {
+  if(cfg_irq[0] == 0) {
     return -1;
   }
 
-  return GET_CHANNEL(cfg_irq);
+  return GET_CHANNEL(cfg_irq[0]);
 }
 
 /* -------------------------------------------------------------------------- */

cores/arduino/Serial.cpp

@@ -147,18 +147,30 @@ bool  UART::cfg_pins(int max_index) {
     return false;
   }
   /* getting configuration from table */
-  const uint16_t *cfg = g_pin_cfg[tx_pin].list;
-  uint16_t cfg_tx = getPinCfg(cfg, PIN_CFG_REQ_UART_TX, true);
-  cfg = g_pin_cfg[rx_pin].list;
-  uint16_t cfg_rx = getPinCfg(cfg, PIN_CFG_REQ_UART_RX, true);
+  auto cfgs_tx = getPinCfgs(tx_pin, PIN_CFG_REQ_UART_TX);
+  auto cfgs_rx = getPinCfgs(rx_pin, PIN_CFG_REQ_UART_RX);
+
+  uint16_t cfg_tx = 0;
+  uint16_t cfg_rx = 0;
+
+  /* Find the best combination */
+  for (size_t i = 0; i < cfgs_tx.size(); i++) {
+    for (size_t j = 0; j < cfgs_rx.size(); j++) {
+      if (cfgs_tx[i] && cfgs_rx[i] && GET_CHANNEL(cfgs_tx[i]) == GET_CHANNEL(cfgs_rx[j])) {
+        cfg_tx = cfgs_tx[i];
+        cfg_rx = cfgs_rx[j];
+        channel = GET_CHANNEL(cfg_tx);
+        goto done;
+      }
+    }
+  }
+
+done:
   /* verify configuration are good */
   if(cfg_tx == 0 || cfg_rx == 0 ) {
     return false;
   }
-  /* verify channel are the same for both pins */
-  if(GET_CHANNEL(cfg_tx) != GET_CHANNEL(cfg_rx) ) {
-    return false;
-  }
+
   /* verify channel does not exceed max possible uart channels */
   if(channel >= MAX_UARTS) {
     return false;

cores/arduino/analog.cpp

@@ -139,20 +139,16 @@ static void ADC_irq_cbk(adc_callback_args_t * cb_data) {
 static ADC_Container *get_ADC_container_ptr(int32_t pin, uint16_t &cfg) {
 /* -------------------------------------------------------------------------- */  
   ADC_Container *rv = nullptr;
-  uint16_t cfg_adc = 0;
-  if(pin >= 0) {
-    const uint16_t *cfg = g_pin_cfg[pin].list;
-    cfg_adc = getPinCfg(cfg, PIN_CFG_REQ_ADC);
-  }
-  if(cfg_adc > 0 ) {
-    if(IS_ADC1(cfg_adc)) {
+  auto cfg_adc = getPinCfgs(pin, PIN_CFG_REQ_ADC);
+  if(cfg_adc[0] > 0 ) {
+    if(IS_ADC1(cfg_adc[0])) {
       rv = &adc1;
     }
     else {
       rv = &adc;
     }
   }
-  cfg = cfg_adc;
+  cfg = cfg_adc[0];
   return rv;
 
 }
@@ -348,40 +344,6 @@ bool attachScanEndBIrq(ADCIrqCbk_f cbk, adc_mode_t mode /*= ADC_MODE_GROUP_SCAN*
 
 #endif
 
-int getStoredAnalogValue(bsp_io_port_pin_t pin) {
-  int rv = -1;
-  int32_t index = getPinIndex(pin);
-  uint16_t cfg_adc = 0;
-
-  if(index >= 0) {
-    const uint16_t *cfg = g_pin_cfg[index].list;
-    cfg_adc = getPinCfg(cfg, PIN_CFG_REQ_ADC);
-  }
-  if(cfg_adc > 0 ) {
-    rv = analog_values_by_channels[GET_CHANNEL(cfg_adc)];
-    rv = map(rv, 0, (1 << _privateGetHwAnalogResolution()), 0, (1 << _analogRequestedReadResolution));
-  }
-  return rv;
-}
-
-int getStoredAnalogValue(pin_size_t pinNumber) {
-  int rv = -1;
-  int32_t index = digitalPinToAnalogPin(pinNumber);
-  uint16_t cfg_adc = 0;
-  if(index >= 0) {
-    const uint16_t *cfg = g_pin_cfg[index].list;
-    cfg_adc = getPinCfg(cfg, PIN_CFG_REQ_ADC);
-  }
-  if(cfg_adc > 0 ) {
-    rv = analog_values_by_channels[GET_CHANNEL(cfg_adc)];
-    rv = map(rv, 0, (1 << _privateGetHwAnalogResolution()), 0, (1 << _analogRequestedReadResolution));
-  }
-  return rv;
-}
-
-
-
-
 bool analogAttachIrqCompareA(uint16_t low_th, uint16_t high_th, bool enable_window, ADCIrqCbk_f cbk, adc_mode_t mode /*= ADC_MODE_GROUP_SCAN*/, uint8_t priority /* = 12 */){
   bool rv = true;
   if(adc.channel_cfg.p_window_cfg != nullptr) {

cores/arduino/analog.h

@@ -56,8 +56,6 @@ bool analogAttachIrqCompareB(bsp_io_port_pin_t pinNumber, bool lower_or_outside_
 bool analogAttachIrqCompareB(pin_size_t pinNumber, bool lower_or_outside_wnd, uint16_t low_th, uint16_t high_th, bool enable_window, ADCIrqCbk_f cbk, adc_mode_t mode = ADC_MODE_CONTINUOUS_SCAN, uint8_t priority = 12);
 bool analogAddPinToCompare(bsp_io_port_pin_t pin, bool lower_or_outside_wnd) ;
 bool analogAddPinToCompare(pin_size_t pinNumber, bool lower_or_outside_wnd);
-int getStoredAnalogValue(bsp_io_port_pin_t pinNumber);
-int getStoredAnalogValue(pin_size_t pinNumber);
 
 int analogRead(bsp_io_port_pin_t pinNumber);
 

cores/arduino/pwm.cpp

@@ -21,19 +21,18 @@ bool PwmOut::cfg_pin(int max_index) {
     return false;
   }
   /* getting configuration from table */
-  const uint16_t *cfg = g_pin_cfg[_pin].list;
-  uint16_t pin_cgf = getPinCfg(cfg, PIN_CFG_REQ_PWM,false);
+  auto pin_cgf = getPinCfgs(_pin, PIN_CFG_REQ_PWM);
 
   /* verify configuration are good */
-  if(pin_cgf == 0) {
+  if(pin_cgf[0] == 0) {
     return false;
   }
 
-  timer_channel = GET_CHANNEL(pin_cgf);
+  timer_channel = GET_CHANNEL(pin_cgf[0]);
 
-  _is_agt = IS_PIN_AGT_PWM(pin_cgf);
+  _is_agt = IS_PIN_AGT_PWM(pin_cgf[0]);
 
-  _pwm_channel = IS_PWM_ON_A(pin_cgf) ? CHANNEL_A : CHANNEL_B;
+  _pwm_channel = IS_PWM_ON_A(pin_cgf[0]) ? CHANNEL_A : CHANNEL_B;
 
   /* actually configuring PIN function */
   R_IOPORT_PinCfg(&g_ioport_ctrl, g_pin_cfg[_pin].pin, (uint32_t) (IOPORT_CFG_PERIPHERAL_PIN | (_is_agt ? IOPORT_PERIPHERAL_AGT : IOPORT_PERIPHERAL_GPT1)));

cores/arduino/variant.h

@@ -26,11 +26,9 @@ typedef enum {
 } PinCfgReq_t;
 
 int32_t getPinIndex(bsp_io_port_pin_t p);
-uint16_t getPinCfg(const uint16_t *cfg, PinCfgReq_t req, bool prefer_sci);
 #ifdef __cplusplus
-static inline uint16_t getPinCfg(const uint16_t *cfg, PinCfgReq_t req) {
-  return getPinCfg(cfg, req, false);
-}
+#include <array>
+std::array<uint16_t, 3> getPinCfgs(const pin_size_t pin, PinCfgReq_t req);
 #endif
 
 #define SCI_CHANNEL                 0x1

extras/e2studioProjects/Santiago/fsp_to_arduino.sh

@@ -13,6 +13,15 @@ else
     echo "already commented!"    
 fi
 
+mkdir -p fsp_patched
+cd fsp_patched
+ln -s ../../../tinyusb/hw/mcu/renesas/fsp/ra/ .
+cd ..
+
+set +e
+find ra -type f | xargs -I{} cp fsp_patched/{} {}
+set -e
+
 cd Debug
 make clean
 make -j$(nproc)