Skip to content

drivers: can: stm32: fdcan: enable hardware RX timestamping #101374

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
skullbox305 wants to merge 1 commit into
base: main
Choose a base branch
from
+47 −0
Open

drivers: can: stm32: fdcan: enable hardware RX timestamping #101374

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
36 changes: 36 additions & 0 deletions drivers/can/can_stm32_fdcan.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,7 @@
#include <zephyr/drivers/can/can_mcan.h>
#include <zephyr/drivers/clock_control/stm32_clock_control.h>
#include <zephyr/drivers/clock_control.h>
#include <zephyr/drivers/counter.h>
#include <zephyr/drivers/pinctrl.h>
#include <zephyr/kernel.h>
#include <zephyr/sys/__assert.h>
Expand Down Expand Up @@ -173,6 +174,9 @@ struct can_stm32fd_config {
void (*config_irq)(void);
const struct pinctrl_dev_config *pcfg;
uint8_t clock_divider;
#ifdef CONFIG_CAN_RX_TIMESTAMP
const struct device *timestamp_counter_dev;
#endif
};

static inline uint16_t can_stm32fd_remap_reg(uint16_t reg)
Expand Down Expand Up @@ -495,6 +499,33 @@ static int can_stm32fd_init(const struct device *dev)

can_mcan_enable_configuration_change(dev);

#ifdef CONFIG_CAN_RX_TIMESTAMP
/* Internal Timestamp counter (TSS=1) with Prescaler /1 (TCP=0) */
uint32_t tscc_val = FIELD_PREP(CAN_MCAN_TSCC_TCP, 0) | FIELD_PREP(CAN_MCAN_TSCC_TSS, 0x1);

if (stm32fd_cfg->timestamp_counter_dev) {
if (!device_is_ready(stm32fd_cfg->timestamp_counter_dev)) {
LOG_ERR("Timestamp counter device not ready");
return -ENODEV;
}

ret = counter_start(stm32fd_cfg->timestamp_counter_dev);
if (ret < 0) {
LOG_ERR("Failed to start timestamp counter (%d)", ret);
return ret;
}

/* Use External Timestamp counter (TSS=2) */
tscc_val = FIELD_PREP(CAN_MCAN_TSCC_TCP, 0) | FIELD_PREP(CAN_MCAN_TSCC_TSS, 0x2);
}

ret = can_mcan_write_reg(dev, CAN_MCAN_TSCC, tscc_val);
if (ret != 0) {
LOG_ERR("Failed to write TSCC register");
return ret;
}
#endif /* CONFIG_CAN_RX_TIMESTAMP */

/* Setup STM32 FDCAN Global Filter Configuration register */
ret = can_mcan_read_reg(dev, CAN_STM32FD_RXGFC, &rxgfc);
if (ret != 0) {
Expand Down Expand Up @@ -610,6 +641,11 @@ static const struct can_mcan_ops can_stm32fd_ops = {
.config_irq = config_can_##inst##_irq, \
.pcfg = PINCTRL_DT_INST_DEV_CONFIG_GET(inst), \
.clock_divider = DT_INST_PROP_OR(inst, clk_divider, 0) \
IF_ENABLED(CONFIG_CAN_RX_TIMESTAMP, \
(.timestamp_counter_dev = COND_CODE_1( \
DT_INST_NODE_HAS_PROP(inst, timestamp_counter), \
(DEVICE_DT_GET(DT_INST_PHANDLE(inst, timestamp_counter))), \
(NULL)),)) \
}; \
\
static const struct can_mcan_config can_mcan_cfg_##inst = \
Expand Down
11 changes: 11 additions & 0 deletions dts/bindings/can/st,stm32-fdcan.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -43,3 +43,14 @@ properties:
Note that the divisor is common to all 'st,stm32-fdcan' instances.
Divide by 1 is the peripherals reset value and remains set unless
this property is configured.
timestamp-counter:
type: phandle
description: |
Phandle to the counter device to be used as the external RX timestamp source.
When this property is defined, the driver configures the FDCAN Timestamp
Counter Configuration (TSCC) to use the External Timestamp (TSS=0x2).
Hardware Constraint: The selected timer must be physically routed to the
fdcan_ts input in the SoC interconnect. (e.g. TIM3 on STM32G4).
Loading