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lib: Add can2040 code 

The "can2040" project implements "software canbus" support on rp2040
micro-controllers.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2022-06-02 12:40:18 -04:00
parent 1636a9759b
commit f10fd7c2fa
3 changed files with 1312 additions and 0 deletions
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4
lib/README
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@ -128,3 +128,7 @@ The canboot directory contains code from:
revision 870200826561b150137913d42fd7edc6515229ff. The Python module,
flash_can.py, is taken from the repo's scripts directory. It may be
used to upload firmware to devices flashed with the CanBoot bootloader.
The can2040 directory contains code from:
https://github.com/KevinOConnor/can2040
revision 17b8ace15584077cd0bf0c3e038c2a2a8edd70ed.

1230
lib/can2040/can2040.c Normal file
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lib/can2040/can2040.h Normal file
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@ -0,0 +1,78 @@
#ifndef _CAN2040_H
#define _CAN2040_H
#include <stdint.h> // uint32_t
struct can2040_msg {
uint32_t id;
uint32_t dlc;
union {
uint8_t data[8];
uint32_t data32[2];
};
};
enum {
CAN2040_ID_RTR = 1<<30,
CAN2040_ID_EFF = 1<<31,
};
enum {
CAN2040_NOTIFY_RX = 1<<20,
CAN2040_NOTIFY_TX = 1<<21,
CAN2040_NOTIFY_ERROR = 1<<23,
};
struct can2040;
typedef void (*can2040_rx_cb)(struct can2040 *cd, uint32_t notify
, struct can2040_msg *msg);
void can2040_setup(struct can2040 *cd, uint32_t pio_num);
void can2040_callback_config(struct can2040 *cd, can2040_rx_cb rx_cb);
void can2040_start(struct can2040 *cd, uint32_t sys_clock, uint32_t bitrate
, uint32_t gpio_rx, uint32_t gpio_tx);
void can2040_shutdown(struct can2040 *cd);
void can2040_pio_irq_handler(struct can2040 *cd);
int can2040_check_transmit(struct can2040 *cd);
int can2040_transmit(struct can2040 *cd, struct can2040_msg *msg);
/****************************************************************
* Internal definitions
****************************************************************/
struct can2040_bitunstuffer {
uint32_t stuffed_bits, count_stuff;
uint32_t unstuffed_bits, count_unstuff;
};
struct can2040_transmit {
struct can2040_msg msg;
uint32_t crc, stuffed_words, stuffed_data[5];
};
struct can2040 {
// Setup
uint32_t pio_num;
void *pio_hw;
uint32_t gpio_rx, gpio_tx;
can2040_rx_cb rx_cb;
// Bit unstuffing
struct can2040_bitunstuffer unstuf;
uint32_t raw_bit_count;
// Input data state
uint32_t parse_state;
uint32_t parse_crc;
struct can2040_msg parse_msg;
// Reporting
uint32_t report_state;
// Transmits
uint32_t tx_state;
uint32_t tx_pull_pos, tx_push_pos;
struct can2040_transmit tx_queue[4];
};
#endif // can2040.h