diff --git a/src/atsam/Kconfig b/src/atsam/Kconfig
index 7fac95f50..4a10a0f7d 100644
--- a/src/atsam/Kconfig
+++ b/src/atsam/Kconfig
@@ -50,6 +50,9 @@ config MACH_SAM4E
select MACH_SAM4
config MACH_SAME70
bool
+config HAVE_SAM_CANBUS
+ bool
+ default y if MACH_SAME70
config MCU
string
@@ -101,6 +104,32 @@ choice
config ATSAM_SERIAL
bool "Serial"
select SERIAL
+ config ATSAM_MMENU_CANBUS_PC12_PD12
+ bool "CAN bus (on PC12/PD12)"
+ depends on HAVE_SAM_CANBUS
+ select CANSERIAL
+ config ATSAM_MMENU_CANBUS_PB3_PB2
+ bool "CAN bus (on PB3/PB2)"
+ depends on HAVE_SAM_CANBUS
+ select CANSERIAL
+ config ATSAM_USBCANBUS
+ bool "USB to CAN bus bridge"
+ depends on HAVE_SAM_CANBUS
+ select USBCANBUS
+endchoice
+choice
+ prompt "CAN bus interface" if USBCANBUS
+ config ATSAM_CMENU_CANBUS_PC12_PD12
+ bool "CAN bus (on PC12/PD12)"
+ config ATSAM_CMENU_CANBUS_PB3_PB2
+ bool "CAN bus (on PB3/PB2)"
endchoice
+config ATSAM_CANBUS_PC12_PD12
+ bool
+ default y if ATSAM_MMENU_CANBUS_PC12_PD12 || ATSAM_CMENU_CANBUS_PC12_PD12
+config ATSAM_CANBUS_PB3_PB2
+ bool
+ default y if ATSAM_MMENU_CANBUS_PB3_PB2 || ATSAM_CMENU_CANBUS_PB3_PB2
+
endif
diff --git a/src/atsam/Makefile b/src/atsam/Makefile
index 1c32cb40c..7ab69b823 100644
--- a/src/atsam/Makefile
+++ b/src/atsam/Makefile
@@ -3,7 +3,7 @@
# Setup the toolchain
CROSS_PREFIX=arm-none-eabi-
-dirs-y += src/atsam src/generic
+dirs-y += src/atsam src/generic lib/fast-hash
dirs-$(CONFIG_MACH_SAM3X) += lib/sam3x/gcc
dirs-$(CONFIG_MACH_SAM4S) += lib/sam4s/gcc
dirs-$(CONFIG_MACH_SAM4E) += lib/sam4e/gcc
@@ -18,7 +18,7 @@ CFLAGS-$(CONFIG_MACH_SAM3X) += -Ilib/sam3x/include
CFLAGS-$(CONFIG_MACH_SAM4S) += -Ilib/sam4s/include
CFLAGS-$(CONFIG_MACH_SAM4E) += -Ilib/sam4e/include
CFLAGS-$(CONFIG_MACH_SAME70) += -Ilib/same70b/include
-CFLAGS += $(CFLAGS-y) -D__$(MCU)__ -mthumb -Ilib/cmsis-core
+CFLAGS += $(CFLAGS-y) -D__$(MCU)__ -mthumb -Ilib/cmsis-core -Ilib/fast-hash
CFLAGS_klipper.elf += --specs=nano.specs --specs=nosys.specs
CFLAGS_klipper.elf += -T $(OUT)src/generic/armcm_link.ld
@@ -33,6 +33,10 @@ usb-src-$(CONFIG_MACH_SAM4) := atsam/sam4_usb.c
usb-src-$(CONFIG_MACH_SAME70) := atsam/sam3_usb.c
src-$(CONFIG_USBSERIAL) += $(usb-src-y) atsam/chipid.c generic/usb_cdc.c
src-$(CONFIG_SERIAL) += atsam/serial.c generic/serial_irq.c
+canbus-src-y := generic/canserial.c ../lib/fast-hash/fasthash.c
+canbus-src-y += atsam/fdcan.c atsam/chipid.c
+src-$(CONFIG_USBCANBUS) += $(canbus-src-y) $(usb-src-y) generic/usb_canbus.c
+src-$(CONFIG_CANSERIAL) += $(canbus-src-y) generic/canbus.c
src-$(CONFIG_MACH_SAM3X) += atsam/adc.c atsam/hard_pwm.c
src-$(CONFIG_MACH_SAM4) += atsam/hard_pwm.c
src-$(CONFIG_MACH_SAM4S) += atsam/adc.c
diff --git a/src/atsam/chipid.c b/src/atsam/chipid.c
index b4ab289ca..dda4c5d00 100644
--- a/src/atsam/chipid.c
+++ b/src/atsam/chipid.c
@@ -5,6 +5,7 @@
// This file may be distributed under the terms of the GNU GPLv3 license.
#include "generic/irq.h" // irq_disable
+#include "generic/canserial.h" // canserial_set_uuid
#include "generic/usb_cdc.h" // usb_fill_serial
#include "generic/usbstd.h" // usb_string_descriptor
#include "internal.h" // EFC0
@@ -61,7 +62,7 @@ read_chip_id(uint32_t *id)
void
chipid_init(void)
{
- if (!CONFIG_USB_SERIAL_NUMBER_CHIPID)
+ if (!CONFIG_USB_SERIAL_NUMBER_CHIPID && !CONFIG_CANBUS)
return;
uint32_t id[4];
@@ -69,6 +70,10 @@ chipid_init(void)
read_chip_id(id);
irq_enable();
- usb_fill_serial(&cdc_chipid.desc, ARRAY_SIZE(cdc_chipid.data), id);
+ if (CONFIG_USB_SERIAL_NUMBER_CHIPID)
+ usb_fill_serial(&cdc_chipid.desc, ARRAY_SIZE(cdc_chipid.data), id);
+
+ if (CONFIG_CANBUS)
+ canserial_set_uuid((void*)id, CHIP_UID_LEN);
}
DECL_INIT(chipid_init);
diff --git a/src/atsam/fdcan.c b/src/atsam/fdcan.c
new file mode 100644
index 000000000..a536a7be1
--- /dev/null
+++ b/src/atsam/fdcan.c
@@ -0,0 +1,307 @@
+// CANbus support on atsame70 chips
+//
+// Copyright (C) 2021-2022 Kevin O'Connor <kevin@koconnor.net>
+// Copyright (C) 2019 Eug Krashtan <eug.krashtan@gmail.com>
+// Copyright (C) 2020 Pontus Borg <glpontus@gmail.com>
+//
+// This file may be distributed under the terms of the GNU GPLv3 license.
+
+#include "command.h" // DECL_CONSTANT_STR
+#include "generic/armcm_boot.h" // armcm_enable_irq
+#include "generic/canbus.h" // canbus_notify_tx
+#include "generic/canserial.h" // CANBUS_ID_ADMIN
+#include "internal.h" // enable_pclock
+#include "sched.h" // DECL_INIT
+
+
+/****************************************************************
+ * Pin configuration
+ ****************************************************************/
+
+#if CONFIG_ATSAM_CANBUS_PB3_PB2
+ DECL_CONSTANT_STR("RESERVE_PINS_CAN", "PB3,PB2");
+ #define GPIO_Rx GPIO('B', 3)
+ #define GPIO_Tx GPIO('B', 2)
+ #define CANx_GCLK_ID MCAN0_CLOCK_ID
+#elif CONFIG_ATSAM_CANBUS_PC12_PD12
+ DECL_CONSTANT_STR("RESERVE_PINS_CAN", "PC12,PD12");
+ #define GPIO_Rx GPIO('C', 12)
+ #define GPIO_Tx GPIO('D', 12)
+ #define CANx_GCLK_ID MCAN1_CLOCK_ID
+#endif
+
+#if CANx_GCLK_ID == MCAN0_CLOCK_ID
+ #define CAN_FUNCTION_Rx 'A'
+ #define CAN_FUNCTION_Tx 'A'
+ #define CANx MCAN0
+ #define CANx_IRQn MCAN0_INT0_IRQn
+ #define CCFG_CANxDMABA MATRIX->CCFG_CAN0
+ #define CCFG_CANxDMABA_Msk CCFG_CAN0_CAN0DMABA_Msk
+ #define CCFG_CANxDMABA_Pos CCFG_CAN0_CAN0DMABA_Pos
+#else
+ #define CAN_FUNCTION_Rx 'C'
+ #define CAN_FUNCTION_Tx 'B'
+ #define CANx MCAN1
+ #define CANx_IRQn MCAN1_INT0_IRQn
+ #define CCFG_CANxDMABA MATRIX->CCFG_SYSIO
+ #define CCFG_CANxDMABA_Msk CCFG_SYSIO_CAN1DMABA_Msk
+ #define CCFG_CANxDMABA_Pos CCFG_SYSIO_CAN1DMABA_Pos
+#endif
+
+
+/****************************************************************
+ * Message ram layout
+ ****************************************************************/
+
+struct fdcan_fifo {
+ uint32_t id_section;
+ uint32_t dlc_section;
+ uint32_t data[64 / 4];
+};
+
+#define FDCAN_XTD (1<<30)
+#define FDCAN_RTR (1<<29)
+
+struct fdcan_msg_ram {
+ uint32_t FLS[28]; // Filter list standard
+ uint32_t FLE[16]; // Filter list extended
+ struct fdcan_fifo RXF0[3];
+ struct fdcan_fifo RXF1[3];
+ uint32_t TEF[6]; // Tx event FIFO
+ struct fdcan_fifo TXFIFO[3];
+};
+
+// Message ram is in regular memory
+static struct fdcan_msg_ram MSG_RAM;
+
+
+/****************************************************************
+ * CANbus code
+ ****************************************************************/
+
+#define FDCAN_IE_TC (MCAN_IE_TCE | MCAN_IE_TCFE | MCAN_IE_TFEE)
+
+// Transmit a packet
+int
+canhw_send(struct canbus_msg *msg)
+{
+ uint32_t txfqs = CANx->MCAN_TXFQS;
+ if (txfqs & MCAN_TXFQS_TFQF)
+ // No space in transmit fifo - wait for irq
+ return -1;
+
+ uint32_t w_index = ((txfqs & MCAN_TXFQS_TFQPI_Msk) >> MCAN_TXFQS_TFQPI_Pos);
+ struct fdcan_fifo *txfifo = &MSG_RAM.TXFIFO[w_index];
+ uint32_t ids;
+ if (msg->id & CANMSG_ID_EFF)
+ ids = (msg->id & 0x1fffffff) | FDCAN_XTD;
+ else
+ ids = (msg->id & 0x7ff) << 18;
+ ids |= msg->id & CANMSG_ID_RTR ? FDCAN_RTR : 0;
+ txfifo->id_section = ids;
+ txfifo->dlc_section = (msg->dlc & 0x0f) << 16;
+ txfifo->data[0] = msg->data32[0];
+ txfifo->data[1] = msg->data32[1];
+ __DMB();
+ CANx->MCAN_TXBAR;
+ CANx->MCAN_TXBAR = ((uint32_t)1 << w_index);
+ return CANMSG_DATA_LEN(msg);
+}
+
+static void
+can_filter(uint32_t index, uint32_t id)
+{
+ MSG_RAM.FLS[index] = ((0x2 << 30) // Classic filter
+ | (0x1 << 27) // Store in Rx FIFO 0 if filter matches
+ | (id << 16)
+ | 0x7FF); // mask all enabled
+}
+
+// Setup the receive packet filter
+void
+canhw_set_filter(uint32_t id)
+{
+ if (!CONFIG_CANBUS_FILTER)
+ return;
+ /* Request initialisation */
+ CANx->MCAN_CCCR |= MCAN_CCCR_INIT;
+ /* Wait the acknowledge */
+ while (!(CANx->MCAN_CCCR & MCAN_CCCR_INIT))
+ ;
+ /* Enable configuration change */
+ CANx->MCAN_CCCR |= MCAN_CCCR_CCE;
+
+ // Load filter
+ can_filter(0, CANBUS_ID_ADMIN);
+ can_filter(1, id);
+ can_filter(2, id + 1);
+
+ uint32_t flssa = (uint32_t)MSG_RAM.FLS
+ - (CCFG_CANxDMABA_Msk & CCFG_CANxDMABA);
+ CANx->MCAN_SIDFC = flssa | ((id ? 3 : 1) << MCAN_SIDFC_LSS_Pos);
+ CANx->MCAN_GFC = 0x02 << MCAN_GFC_ANFS_Pos;
+
+ /* Leave the initialisation mode for the filter */
+ barrier();
+ CANx->MCAN_CCCR &= ~MCAN_CCCR_CCE;
+ CANx->MCAN_CCCR &= ~MCAN_CCCR_INIT;
+}
+
+// This function handles CAN global interrupts
+void
+CAN_IRQHandler(void)
+{
+ uint32_t ir = CANx->MCAN_IR;
+
+ if (ir & MCAN_IE_RF0NE) {
+ CANx->MCAN_IR = MCAN_IE_RF0NE;
+
+ uint32_t rxf0s = CANx->MCAN_RXF0S;
+ if (rxf0s & MCAN_RXF0S_F0FL_Msk) {
+ // Read and ack data packet
+ uint32_t idx = (rxf0s & MCAN_RXF0S_F0GI_Msk) >> MCAN_RXF0S_F0GI_Pos;
+ struct fdcan_fifo *rxf0 = &MSG_RAM.RXF0[idx];
+ uint32_t ids = rxf0->id_section;
+ struct canbus_msg msg;
+ if (ids & FDCAN_XTD)
+ msg.id = (ids & 0x1fffffff) | CANMSG_ID_EFF;
+ else
+ msg.id = (ids >> 18) & 0x7ff;
+ msg.id |= ids & FDCAN_RTR ? CANMSG_ID_RTR : 0;
+ msg.dlc = (rxf0->dlc_section >> 16) & 0x0f;
+ msg.data32[0] = rxf0->data[0];
+ msg.data32[1] = rxf0->data[1];
+ barrier();
+ CANx->MCAN_RXF0A = idx;
+
+ // Process packet
+ canbus_process_data(&msg);
+ }
+ }
+ if (ir & FDCAN_IE_TC) {
+ // Tx
+ CANx->MCAN_IR = FDCAN_IE_TC;
+ canbus_notify_tx();
+ }
+}
+
+static inline const uint32_t
+make_btr(uint32_t sjw, // Sync jump width, ... hmm
+ uint32_t time_seg1, // time segment before sample point, 1 .. 16
+ uint32_t time_seg2, // time segment after sample point, 1 .. 8
+ uint32_t brp) // Baud rate prescaler, 1 .. 1024
+{
+ return (((uint32_t)(sjw-1)) << MCAN_NBTP_NSJW_Pos
+ | ((uint32_t)(time_seg1-1)) << MCAN_NBTP_NTSEG1_Pos
+ | ((uint32_t)(time_seg2-1)) << MCAN_NBTP_NTSEG2_Pos
+ | ((uint32_t)(brp - 1)) << MCAN_NBTP_NBRP_Pos);
+}
+
+static inline const uint32_t
+compute_btr(uint32_t pclock, uint32_t bitrate)
+{
+ /*
+ Some equations:
+ Tpclock = 1 / pclock
+ Tq = brp * Tpclock
+ Tbs1 = Tq * TS1
+ Tbs2 = Tq * TS2
+ NominalBitTime = Tq + Tbs1 + Tbs2
+ BaudRate = 1/NominalBitTime
+ Bit value sample point is after Tq+Tbs1. Ideal sample point
+ is at 87.5% of NominalBitTime
+ Use the lowest brp where ts1 and ts2 are in valid range
+ */
+
+ uint32_t bit_clocks = pclock / bitrate; // clock ticks per bit
+
+ uint32_t sjw = 2;
+ uint32_t qs;
+ // Find number of time quantas that gives us the exact wanted bit time
+ for (qs = 18; qs > 9; qs--) {
+ // check that bit_clocks / quantas is an integer
+ uint32_t brp_rem = bit_clocks % qs;
+ if (brp_rem == 0)
+ break;
+ }
+ uint32_t brp = bit_clocks / qs;
+ uint32_t time_seg2 = qs / 8; // sample at ~87.5%
+ uint32_t time_seg1 = qs - (1 + time_seg2);
+
+ return make_btr(sjw, time_seg1, time_seg2, brp);
+}
+
+void
+can_init(void)
+{
+ if (!CONFIG_USBCANBUS) {
+ // Configure UPLL for USB and CAN
+ PMC->CKGR_UCKR = CKGR_UCKR_UPLLCOUNT(3) | CKGR_UCKR_UPLLEN;
+ while (!(PMC->PMC_SR & PMC_SR_LOCKU))
+ ;
+ }
+
+ // Configure PCK5 for CAN use
+ PMC->PMC_PCK[5] = PMC_PCK_CSS_UPLL_CLK | PMC_PCK_PRES(5);
+ while (!(PMC->PMC_SR & PMC_SR_PCKRDY5))
+ ;
+ PMC->PMC_SCER |= PMC_SCER_PCK5;
+
+ enable_pclock(CANx_GCLK_ID);
+
+ gpio_peripheral(GPIO_Rx, CAN_FUNCTION_Rx, 1);
+ gpio_peripheral(GPIO_Tx, CAN_FUNCTION_Tx, 0);
+
+ uint32_t pclock = get_pclock_frequency(CANx_GCLK_ID);
+
+ uint32_t btr = compute_btr(pclock, CONFIG_CANBUS_FREQUENCY);
+
+ /*##-1- Configure the CAN #######################################*/
+
+ /* Exit from sleep mode */
+ CANx->MCAN_CCCR &= ~MCAN_CCCR_CSR;
+ /* Wait the acknowledge */
+ while (CANx->MCAN_CCCR & MCAN_CCCR_CSA)
+ ;
+ /* Request initialization */
+ CANx->MCAN_CCCR |= MCAN_CCCR_INIT;
+ /* Wait the acknowledge */
+ while (!(CANx->MCAN_CCCR & MCAN_CCCR_INIT))
+ ;
+ /* Enable configuration change */
+ CANx->MCAN_CCCR |= MCAN_CCCR_CCE;
+
+ /* Disable protocol exception handling */
+ CANx->MCAN_CCCR |= MCAN_CCCR_PXHD;
+
+ CANx->MCAN_NBTP = btr;
+
+ /* Setup message RAM addresses */
+ uint32_t ccfg = (CCFG_CANxDMABA & ~CCFG_CANxDMABA_Msk);
+ CCFG_CANxDMABA = (ccfg | (((uint32_t)&MSG_RAM)
+ & CCFG_CANxDMABA_Msk));
+ uint32_t f0sa = (uint32_t)MSG_RAM.RXF0
+ - (CCFG_CANxDMABA_Msk & CCFG_CANxDMABA);
+ CANx->MCAN_RXF0C = f0sa
+ | (ARRAY_SIZE(MSG_RAM.RXF0) << MCAN_RXF0C_F0S_Pos);
+ CANx->MCAN_RXESC = (7 << MCAN_RXESC_F1DS_Pos)
+ | (7 << MCAN_RXESC_F0DS_Pos);
+ uint32_t tbsa = (uint32_t)MSG_RAM.TXFIFO
+ - (CCFG_CANxDMABA_Msk & CCFG_CANxDMABA);
+ CANx->MCAN_TXBC = tbsa
+ | (ARRAY_SIZE(MSG_RAM.TXFIFO) << MCAN_TXBC_TFQS_Pos);
+ CANx->MCAN_TXESC = 7 << MCAN_TXESC_TBDS_Pos;
+
+ /* Leave the initialisation mode */
+ CANx->MCAN_CCCR &= ~MCAN_CCCR_CCE;
+ CANx->MCAN_CCCR &= ~MCAN_CCCR_INIT;
+
+ /*##-2- Configure the CAN Filter #######################################*/
+ canhw_set_filter(0);
+
+ /*##-3- Configure Interrupts #################################*/
+ armcm_enable_irq(CAN_IRQHandler, CANx_IRQn, 1);
+ CANx->MCAN_ILE = MCAN_ILE_EINT0;
+ CANx->MCAN_IE = MCAN_IE_RF0NE | FDCAN_IE_TC;
+}
+DECL_INIT(can_init);
diff --git a/src/atsam/main.c b/src/atsam/main.c
index 8c2e4318d..3728b7349 100644
--- a/src/atsam/main.c
+++ b/src/atsam/main.c
@@ -14,6 +14,8 @@
#define FREQ_PERIPH_DIV (CONFIG_MACH_SAME70 ? 2 : 1)
#define FREQ_PERIPH (CONFIG_CLOCK_FREQ / FREQ_PERIPH_DIV)
+#define FREQ_SAME70_CAN 80000000
+
/****************************************************************
* watchdog handler
****************************************************************/
@@ -62,6 +64,10 @@ enable_pclock(uint32_t id)
uint32_t
get_pclock_frequency(uint32_t id)
{
+#if CONFIG_MACH_SAME70
+ if (id == MCAN0_CLOCK_ID || id == MCAN1_CLOCK_ID)
+ return FREQ_SAME70_CAN;
+#endif
return FREQ_PERIPH;
}
diff --git a/src/atsam/same70_sysinit.c b/src/atsam/same70_sysinit.c
index d4d98483f..4cb5f48cc 100644
--- a/src/atsam/same70_sysinit.c
+++ b/src/atsam/same70_sysinit.c
@@ -70,5 +70,8 @@ void SystemInit( void )
// Configure PCK6 for TC use
PMC->PMC_PCK[6] = PMC_PCK_CSS_MCK | PMC_PCK_PRES(2);
- PMC->PMC_SCER = PMC_SCER_PCK6;
+ while ( !(PMC->PMC_SR & PMC_SR_PCKRDY6) )
+ {
+ }
+ PMC->PMC_SCER |= PMC_SCER_PCK6;
}