drivers: CAN: MCP2515: Add and use RTS instruction (d5a5d960) · Commits · Wenxi XU / zephyr

drivers/can/can_mcp2515.c

+26 −6

Original line number	Diff line number	Diff line
		@@ -92,6 +92,29 @@ static int mcp2515_cmd_load_tx_buffer(struct device *dev, u8_t abc,
		return spi_write(DEV_DATA(dev)->spi, &DEV_DATA(dev)->spi_cfg, &tx);
		}

		/*
		* Request-to-Send Instruction
		*
		* Parameter nnn is the combination of bits at positions 0, 1 and 2 in the RTS
		* opcode that respectively initiate transmission for buffers TXB0, TXB1 and
		* TXB2.
		*/
		static int mcp2515_cmd_rts(struct device *dev, u8_t nnn)
		{
		__ASSERT(nnn < BIT(MCP2515_TX_CNT), "nnn < BIT(MCP2515_TX_CNT)");

		u8_t cmd_buf[] = { MCP2515_OPCODE_RTS \| nnn };

		struct spi_buf tx_buf[] = {
		{ .buf = cmd_buf, .len = sizeof(cmd_buf) }
		};
		const struct spi_buf_set tx = {
		.buffers = tx_buf, .count = ARRAY_SIZE(tx_buf)
		};

		return spi_write(DEV_DATA(dev)->spi, &DEV_DATA(dev)->spi_cfg, &tx);
		}

		static int mcp2515_cmd_read_reg(struct device *dev, u8_t reg_addr,
		u8_t *buf_data, u8_t buf_len)
		{
		@@ -325,7 +348,7 @@ static int mcp2515_send(struct device dev, const struct zcan_frame msg,
		struct mcp2515_data *dev_data = DEV_DATA(dev);
		u8_t tx_idx = 0U;
		u8_t abc;
		u8_t addr_tx_ctrl;
		u8_t nnn;
		u8_t tx_frame[MCP2515_FRAME_LEN];

		if (k_sem_take(&dev_data->tx_sem, timeout) != 0) {
		@@ -352,9 +375,6 @@ static int mcp2515_send(struct device dev, const struct zcan_frame msg,
		dev_data->tx_cb[tx_idx].cb = callback;
		dev_data->tx_cb[tx_idx].cb_arg = callback_arg;

		addr_tx_ctrl = MCP2515_ADDR_TXB0CTRL +
		(tx_idx * MCP2515_ADDR_OFFSET_FRAME2FRAME);

		mcp2515_convert_zcanframe_to_mcp2515frame(msg, tx_frame);

		/* Address Pointer selection */
		@@ -363,8 +383,8 @@ static int mcp2515_send(struct device dev, const struct zcan_frame msg,
		mcp2515_cmd_load_tx_buffer(dev, abc, tx_frame, sizeof(tx_frame));

		/* request tx slot transmission */
		mcp2515_cmd_bit_modify(dev, addr_tx_ctrl, MCP2515_TXCTRL_TXREQ,
		MCP2515_TXCTRL_TXREQ);
		nnn = BIT(tx_idx);
		mcp2515_cmd_rts(dev, nnn);

		if (callback == NULL) {
		k_sem_take(&dev_data->tx_cb[tx_idx].sem, K_FOREVER);

drivers/can/can_mcp2515.h

+1 −0

Original line number	Diff line number	Diff line
		@@ -83,6 +83,7 @@ struct mcp2515_config {
		#define MCP2515_OPCODE_READ 0x03
		#define MCP2515_OPCODE_BIT_MODIFY 0x05
		#define MCP2515_OPCODE_LOAD_TX_BUFFER 0x40
		#define MCP2515_OPCODE_RTS 0x80
		#define MCP2515_OPCODE_READ_STATUS 0xA0
		#define MCP2515_OPCODE_RESET 0xC0

Admin message