Add support for multichanne, CAN-FD, and STM32G4

.gitignore

@@ -1,3 +1,4 @@
+/.ccls-cache/
 /.idea/
 /.vscode/
 /Debug/

CMakeLists.txt

@@ -27,6 +27,7 @@ add_compile_options(
 set(CPUFLAGS_F0 -mcpu=cortex-m0)
 set(CPUFLAGS_F4 -mcpu=cortex-m4)
 set(CPUFLAGS_G0 -mcpu=cortex-m0)
+set(CPUFLAGS_G4 -mcpu=cortex-m4)
 
 add_link_options(
 	--specs=nano.specs
@@ -65,7 +66,9 @@ set(
 	include/usbd_gs_can.h src/usbd_gs_can.c
 	src/usbd_conf.c
 
-	include/can.h src/can.c
+	include/board.h
+	include/can.h
+	include/can_common.h src/can_common.c
 	include/device.h
 	include/dfu.h src/dfu.c
 	include/gpio.h src/gpio.c
@@ -200,6 +203,15 @@ populate_ldscript(CPU_FAMILY STM32G0B1XK
 	HEAP_SIZE 1k
 )
 
+populate_ldscript(CPU_FAMILY STM32G431X8
+	FLASH_START 0x08000000
+	FLASH_SIZE 64k
+	RAM_START 0x20000000
+	RAM_SIZE 32k
+	STACK_SIZE 2k
+	HEAP_SIZE 1k
+)
+
 ######### commands for adding each target have a lot in common: make helper func.
 # Split into two categories, F042-based and F072-based.
 
@@ -217,6 +229,8 @@ function(add_f042_target TGTNAME)
 	add_target_common(${TGTNAME} STM32F042X6)
 	target_compile_options(${TGTNAME}_fw BEFORE PRIVATE ${CPUFLAGS_F0})
 	target_compile_definitions(${TGTNAME}_fw PRIVATE BOARD_${TGTNAME} STM32F0)
+	target_sources(${TGTNAME}_fw PRIVATE "src/boards/legacy.c")
+	target_sources(${TGTNAME}_fw PRIVATE "src/can/bxcan.c")
 	target_sources(${TGTNAME}_fw PRIVATE "src/device/device_f0.c")
 	target_link_options(${TGTNAME}_fw BEFORE PRIVATE ${CPUFLAGS_F0})
 	target_link_libraries(${TGTNAME}_fw PRIVATE STM32_HAL_STM32F042x6 STM32_USB_Device_Library_STM32F042x6)
@@ -226,6 +240,8 @@ function(add_f072_target TGTNAME)
 	add_target_common(${TGTNAME} STM32F072XB)
 	target_compile_options(${TGTNAME}_fw BEFORE PRIVATE ${CPUFLAGS_F0})
 	target_compile_definitions(${TGTNAME}_fw PRIVATE BOARD_${TGTNAME} STM32F0)
+	target_sources(${TGTNAME}_fw PRIVATE "src/boards/legacy.c")
+	target_sources(${TGTNAME}_fw PRIVATE "src/can/bxcan.c")
 	target_sources(${TGTNAME}_fw PRIVATE "src/device/device_f0.c")
 	target_link_options(${TGTNAME}_fw BEFORE PRIVATE ${CPUFLAGS_F0})
 	target_link_libraries(${TGTNAME}_fw PRIVATE STM32_HAL_STM32F072xB STM32_USB_Device_Library_STM32F072xB)
@@ -236,6 +252,8 @@ function(add_f407_target TGTNAME)
 	add_target_common(${TGTNAME} STM32F407XE)
 	target_compile_definitions(${TGTNAME}_fw PRIVATE BOARD_${TGTNAME} STM32F4)
 	target_compile_options(${TGTNAME}_fw BEFORE PRIVATE ${CPUFLAGS_F4})
+	target_sources(${TGTNAME}_fw PRIVATE "src/boards/legacy.c")
+	target_sources(${TGTNAME}_fw PRIVATE "src/can/bxcan.c")
 	target_sources(${TGTNAME}_fw PRIVATE "src/device/device_f4.c")
 	target_link_options(${TGTNAME}_fw BEFORE PRIVATE ${CPUFLAGS_F4})
 	target_link_libraries(${TGTNAME}_fw PRIVATE STM32_HAL_STM32F407xE STM32_USB_Device_Library_STM32F407xE)
@@ -245,17 +263,31 @@ function(add_g0b1_target TGTNAME)
 	add_target_common(${TGTNAME} STM32G0B1XK)
 	target_compile_definitions(${TGTNAME}_fw PRIVATE BOARD_${TGTNAME} STM32G0)
 	target_compile_options(${TGTNAME}_fw BEFORE PRIVATE ${CPUFLAGS_G0})
+	target_sources(${TGTNAME}_fw PRIVATE "src/boards/g0b1-${TGTNAME}.c")
+	target_sources(${TGTNAME}_fw PRIVATE "src/can/m_can.c")
 	target_sources(${TGTNAME}_fw PRIVATE "src/device/device_g0.c")
 	target_link_options(${TGTNAME}_fw BEFORE PRIVATE ${CPUFLAGS_G0})
 	target_link_libraries(${TGTNAME}_fw PRIVATE STM32_HAL_STM32G0B1xK STM32_USB_Device_Library_STM32G0B1xK)
 endfunction()
 
+function(add_g431_target TGTNAME)
+	add_target_common(${TGTNAME} STM32G431X8)
+	target_compile_definitions(${TGTNAME}_fw PRIVATE BOARD_${TGTNAME} STM32G4)
+	target_compile_options(${TGTNAME}_fw BEFORE PRIVATE ${CPUFLAGS_G4})
+	target_sources(${TGTNAME}_fw PRIVATE "src/boards/g431-${TGTNAME}.c")
+	target_sources(${TGTNAME}_fw PRIVATE "src/can/m_can.c")
+	target_sources(${TGTNAME}_fw PRIVATE "src/device/device_g4.c")
+	target_link_options(${TGTNAME}_fw BEFORE PRIVATE ${CPUFLAGS_G4})
+	target_link_libraries(${TGTNAME}_fw PRIVATE STM32_HAL_STM32G431x8 STM32_USB_Device_Library_STM32G431x8)
+endfunction()
+
 ########## generate list of targets.
 # the "_fw" part is appended automatically
 set(TGTF042_LIST "cantact" "canalyze" "canable" "usb2can" "cannette")
 set(TGTF072_LIST "candleLight" "CANable_MKS" "CONVERTDEVICE_xCAN" "DSD_TECH_SH_C30A" "FYSETC_UCAN")
 set(TGTF407_LIST "STM32F4_DevBoard")
-set(TGTG0B1_LIST "budgetcan" "CONVERTDEVICE_xCANFD")
+set(TGTG0B1_LIST "budgetcan" "CONVERTDEVICE_xCANFD" "nucleo_g0b1re" "candleLightFD")
+set(TGTG431_LIST "CANable2_MKS")
 
 foreach (TGTNAME IN LISTS TGTF042_LIST)
 	option(BUILD_${TGTNAME} "Build firmware for \"${TGTNAME}\" (default=yes)" ON)
@@ -279,12 +311,19 @@ foreach (TGTNAME IN LISTS TGTF407_LIST)
 endforeach()
 
 foreach (TGTNAME IN LISTS TGTG0B1_LIST)
-	option(BUILD_${TGTNAME} "Build firmware for \"${TGTNAME}\" (default=yes)" OFF)
+	option(BUILD_${TGTNAME} "Build firmware for \"${TGTNAME}\" (default=yes)" ON)
 	if (BUILD_${TGTNAME})
 		add_g0b1_target(${TGTNAME})
 	endif()
 endforeach()
 
+foreach (TGTNAME IN LISTS TGTG431_LIST)
+	option(BUILD_${TGTNAME} "Build firmware for \"${TGTNAME}\" (default=yes)" ON)
+	if (BUILD_${TGTNAME})
+		add_g431_target(${TGTNAME})
+	endif()
+endforeach()
+
 message("*******************")
 message("You may now:\n\t-compile all targets ('make')\n\t-compile a single target (e.g. 'make cantact_fw'")
 message("\t-flash a device (e.g. 'make flash-cantact_fw'")

include/board.h

@@ -0,0 +1,55 @@
+#pragma once
+
+/*
+
+The MIT License (MIT)
+
+Copyright (c) 2023 Pengutronix,
+              Jonas Martin <kernel@pengutronix.de>
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+
+*/
+
+#include "usbd_gs_can.h"
+
+struct LEDConfig {
+	GPIO_TypeDef *port;
+	uint16_t pin;
+	bool active_high;
+};
+
+struct BoardChannelConfig {
+#if defined(STM32G0) || defined(STM32G4)
+	FDCAN_GlobalTypeDef *interface;
+#else
+	CAN_TypeDef *interface;
+#endif
+	struct LEDConfig leds[LED_MAX];
+};
+
+struct BoardConfig {
+	void (*setup)(USBD_GS_CAN_HandleTypeDef *hcan);
+	void (*phy_power_set)(can_data_t *channel, bool enable);
+	void (*termination_set)(can_data_t *channel, enum gs_can_termination_state state);
+
+	struct BoardChannelConfig channels[NUM_CAN_CHANNEL];
+};
+
+extern const struct BoardConfig config;

include/can.h

@@ -29,39 +29,83 @@ THE SOFTWARE.
 #include <stdint.h>
 #include <stdbool.h>
 
+#include "config.h"
 #include "gs_usb.h"
 #include "hal_include.h"
 #include "led.h"
+#include "list.h"
 
 typedef struct {
+#if defined(STM32G0) || defined(STM32G4)
+	FDCAN_HandleTypeDef channel;
+#else
 	CAN_TypeDef *instance;
+#endif
+	struct list_head list_from_host;
 	led_data_t leds;
-	uint32_t reg_esr_old;
+	uint32_t last_err;
 	uint16_t brp;
 	uint8_t phase_seg1;
 	uint8_t phase_seg2;
 	uint8_t sjw;
+	uint8_t nr;
 } can_data_t;
 
-void can_init(can_data_t *hcan, CAN_TypeDef *instance);
-bool can_set_bittiming(can_data_t *hcan, uint16_t brp, uint8_t phase_seg1, uint8_t phase_seg2, uint8_t sjw);
-void can_enable(can_data_t *hcan, bool loop_back, bool listen_only, bool one_shot);
-void can_disable(can_data_t *hcan);
-bool can_is_enabled(can_data_t *hcan);
+extern const struct gs_device_bt_const CAN_btconst;
+extern const struct gs_device_bt_const_extended CAN_btconst_ext;
 
-bool can_receive(can_data_t *hcan, struct gs_host_frame *rx_frame);
-bool can_is_rx_pending(can_data_t *hcan);
+#if defined(STM32G0) || defined(STM32G4)
+void can_init(can_data_t *channel, FDCAN_GlobalTypeDef *instance);
+#else
+void can_init(can_data_t *channel, CAN_TypeDef *instance);
+#endif
+void can_set_bittiming(can_data_t *channel, const struct gs_device_bittiming *timing);
 
-bool can_send(can_data_t *hcan, struct gs_host_frame *frame);
+#ifdef CONFIG_CANFD
+void can_set_data_bittiming(can_data_t *channel, const struct gs_device_bittiming *timing);
+#else
+static inline bool can_set_data_bittiming(can_data_t *channel,
+										  const struct gs_device_bittiming *timing)
+{
+	(void)channel;
+	(void)timing;
 
-/** return CAN->ESR register which contains tx/rx error counters and
+	return false;
+}
+#endif
+
+void can_enable(can_data_t *channel, uint32_t mode);
+void can_disable(can_data_t *channel);
+bool can_is_enabled(can_data_t *channel);
+
+bool can_receive(can_data_t *channel, struct gs_host_frame *rx_frame);
+bool can_is_rx_pending(can_data_t *channel);
+
+bool can_send(can_data_t *channel, struct gs_host_frame *frame);
+
+/** return error status register which contains tx/rx error counters and
  * LEC (last error code).
  */
-uint32_t can_get_error_status(can_data_t *hcan);
+uint32_t can_get_error_status(can_data_t *channel);
+
+/** Manage controller bus-off recovery (if required)
+ *  @param channel : Can channel to manage
+ *  @param err : current channel error status
+ */
+void can_manage_bus_off_recovery(can_data_t *channel, uint32_t err);
+
+/** Check if error status has changed, filtering the LEC field
+ * @param last_err : holds the contents of the error status register
+ * @param curr_err : holds the contents of the error status register
+ * @return true when status field has changed and should be parsed
+*/
+bool can_has_error_status_changed(uint32_t last_err, uint32_t curr_err);
 
 /** parse status value returned by can_get_error_status().
+ * @param channel : Can channel status is associated with
  * @param frame : will hold the generated error frame
- * @param err : holds the contents of the ESR register
- * @return 1 when status changes (if any) need a new error frame sent
+ * @param last_err : holds the contents of the error status register
+ * @param curr_err : holds the contents of the error status register
+ * @return true when status changes (if any) need a new error frame sent
  */
-bool can_parse_error_status(can_data_t *hcan, struct gs_host_frame *frame, uint32_t err);
+bool can_parse_error_status(can_data_t *channel, struct gs_host_frame *frame, uint32_t last_err, uint32_t curr_err);

include/can_common.h

@@ -0,0 +1,37 @@
+/*
+
+The MIT License (MIT)
+
+Copyright (c) 2016 Hubert Denkmair
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+
+*/
+
+#pragma once
+
+#include <stdint.h>
+
+#include "can.h"
+#include "usbd_gs_can.h"
+
+int can_check_bittiming(const struct can_bittiming_const *btc, const struct gs_device_bittiming *timing);
+void CAN_SendFrame(USBD_GS_CAN_HandleTypeDef *hcan, can_data_t *channel);
+void CAN_ReceiveFrame(USBD_GS_CAN_HandleTypeDef *hcan, can_data_t *channel);
+void CAN_HandleError(USBD_GS_CAN_HandleTypeDef *hcan, can_data_t *channel);

include/config.h

@@ -125,10 +125,9 @@ THE SOFTWARE.
 
 	#define TIM2_CLOCK_SPEED		 64000000
 
-	#define CAN_INTERFACE			 FDCAN1
-	#define CAN_CLOCK_SPEED			 64000000
+	#define CAN_CLOCK_SPEED			 40000000
 	#define NUM_CAN_CHANNEL			 1
-	#define CANFD_SUPPORT
+	#define CONFIG_CANFD			 1
 
 	#define LEDRX_GPIO_Port	  GPIOA
 	#define LEDRX_Pin		  GPIO_PIN_0
@@ -332,34 +331,31 @@ THE SOFTWARE.
 
 	#define TIM2_CLOCK_SPEED		 64000000
 
-	#define CAN_INTERFACE			 FDCAN1
-	#define CAN_INTERFACE2			 FDCAN2
-	#define CAN_CLOCK_SPEED			 64000000
+	#define CAN_CLOCK_SPEED			 40000000
 	#define NUM_CAN_CHANNEL			 2
-	#define CANFD_SUPPORT
+	#define CONFIG_CANFD			 1
 
-	#define nCANSTBY_Port		 GPIOA
-	#define nCANSTBY_Pin		 GPIO_PIN_0    /* control xceiver standby, active low */
-	#define nCANSTBY_Active_High 0
+#elif defined(BOARD_nucleo_g0b1re)
+	#define USBD_PRODUCT_STRING_FS	 (uint8_t *)"NUCLEO-G0B1RE gs_usb"
+	#define USBD_MANUFACTURER_STRING (uint8_t *)"STMicroelectronics"
+	#define DFU_INTERFACE_STRING_FS	 (uint8_t *)"NUCLEO-G0B1RE firmware upgrade interface"
 
-	#define LEDRX_GPIO_Port		 GPIOB
-	#define LEDRX_Pin			 GPIO_PIN_4
-	#define LEDRX_Mode			 GPIO_MODE_OUTPUT_PP
-	#define LEDRX_Active_High	 1
+	#define TIM2_CLOCK_SPEED		 64000000
 
-	#define LEDTX_GPIO_Port		 GPIOB
-	#define LEDTX_Pin			 GPIO_PIN_3
-	#define LEDTX_Mode			 GPIO_MODE_OUTPUT_PP
-	#define LEDTX_Active_High	 1
+	#define CAN_CLOCK_SPEED			 40000000
+	#define NUM_CAN_CHANNEL			 2
+	#define CONFIG_CANFD			 1
 
-	#define USB_GPIO_Port		 GPIOA
-	#define USB_Pin_DM			 GPIO_PIN_11
-	#define USB_Pin_DP			 GPIO_PIN_12
+#elif defined(BOARD_candleLightFD)
+	#define USBD_PRODUCT_STRING_FS	 (uint8_t*) "candleLightFD gs_usb"
+	#define USBD_MANUFACTURER_STRING (uint8_t*) "candleLightFD"
+	#define DFU_INTERFACE_STRING_FS	 (uint8_t*) "candleLightFD firmware upgrade interface"
 
-	#define TERM_GPIO_Port		 GPIOA
-	#define TERM_Pin			 GPIO_PIN_1
-	#define TERM_Mode			 GPIO_MODE_OUTPUT_PP
-	#define TERM_Active_High	 1
+	#define TIM2_CLOCK_SPEED		 64000000
+
+	#define CAN_CLOCK_SPEED			 40000000
+	#define NUM_CAN_CHANNEL			 1
+	#define CONFIG_CANFD			 1
 
 #elif defined(BOARD_STM32F4_DevBoard)
 	#define USBD_PRODUCT_STRING_FS	 (uint8_t*) "STM32F4VE Dev Board"
@@ -394,6 +390,17 @@ THE SOFTWARE.
 	#define TERM_Mode				 GPIO_MODE_OUTPUT_PP
 	#define TERM_Active_High		 1
 
+#elif defined(BOARD_CANable2_MKS)
+	#define USBD_PRODUCT_STRING_FS	 (uint8_t*) "CANable2-MKS gs_usb"
+	#define USBD_MANUFACTURER_STRING (uint8_t*) "CANable2-MKS"
+	#define DFU_INTERFACE_STRING_FS	 (uint8_t*) "CANable2-MKS firmware upgrade interface"
+
+	#define TIM2_CLOCK_SPEED		 160000000
+
+	#define CAN_CLOCK_SPEED			 80000000
+	#define NUM_CAN_CHANNEL			 1
+	#define CONFIG_CANFD			 1
+
 #else
 	#error please define BOARD
 #endif