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Posted to commits@nuttx.apache.org by xi...@apache.org on 2024/10/16 07:43:27 UTC
(nuttx) 02/02: arch/arm64/src/imx9: Add initial version of canbus driver
This is an automated email from the ASF dual-hosted git repository.
xiaoxiang pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/nuttx.git
commit 6a5b395459d6b56d3f246b342fb9f798fa12b915
Author: Jukka Laitinen <ju...@ssrc.tii.ae>
AuthorDate: Tue Oct 1 15:27:17 2024 +0300
arch/arm64/src/imx9: Add initial version of canbus driver
Signed-off-by: Jukka Laitinen <ju...@ssrc.tii.ae>
---
arch/arm64/src/imx9/Kconfig | 114 ++
arch/arm64/src/imx9/Make.defs | 4 +
arch/arm64/src/imx9/hardware/imx9_flexcan.h | 487 +++++++
arch/arm64/src/imx9/imx9_flexcan.c | 2086 +++++++++++++++++++++++++++
arch/arm64/src/imx9/imx9_flexcan.h | 84 ++
5 files changed, 2775 insertions(+)
diff --git a/arch/arm64/src/imx9/Kconfig b/arch/arm64/src/imx9/Kconfig
index 36f02606d3..9c9335439a 100644
--- a/arch/arm64/src/imx9/Kconfig
+++ b/arch/arm64/src/imx9/Kconfig
@@ -1032,6 +1032,120 @@ config IMX9_ENET1_PHYINIT
endmenu # IMX9_ENET
+config IMX9_FLEXCAN
+ bool
+ default n
+ select ARCH_HAVE_CAN_ERRORS
+ select ARCH_HAVE_NETDEV_STATISTICS
+ select CAN
+ select NET_CAN
+ select NET_CAN_HAVE_CANFD
+ select NET_CAN_HAVE_TX_DEADLINE
+
+menu "FLEXCAN Peripherals"
+
+config IMX9_FLEXCAN1
+ bool "FLEXCAN1"
+ default n
+ select IMX9_FLEXCAN
+
+config IMX9_FLEXCAN2
+ bool "FLEXCAN2"
+ default n
+ select IMX9_FLEXCAN
+
+if IMX9_FLEXCAN1 || IMX9_FLEXCAN2
+
+config IMX9_FLEXCAN_TXMB
+ int "Number of TX message buffers"
+ default 4
+ ---help---
+ This defines number of TX messages buffers. Please note that
+ maximum number of all message buffers is 13 (one MB has to
+ be reserved for chip errata ERR005829).
+
+config IMX9_FLEXCAN_RXMB
+ int "Number of RX message buffers"
+ default 16
+ ---help---
+ This defines number of RX messages buffers. Please note that
+ maximum number of all message buffers is 13 (one MB has to
+ be reserved for chip errata ERR005829).
+
+endif
+
+endmenu # FLEXCAN Peripherals
+
+menu "FLEXCAN1 Configuration"
+ depends on IMX9_FLEXCAN1
+
+config IMX9_FLEXCAN1_BITRATE
+ int "CAN bitrate"
+ depends on !NET_CAN_CANFD
+ default 1000000
+
+config IMX9_FLEXCAN1_SAMPLEP
+ int "CAN sample point"
+ depends on !NET_CAN_CANFD
+ default 75
+
+config IMX9_FLEXCAN1_ARBI_BITRATE
+ int "CAN FD Arbitration phase bitrate"
+ depends on NET_CAN_CANFD
+ default 1000000
+
+config IMX9_FLEXCAN1_ARBI_SAMPLEP
+ int "CAN FD Arbitration phase sample point"
+ depends on NET_CAN_CANFD
+ default 75
+
+config IMX9_FLEXCAN1_DATA_BITRATE
+ int "CAN FD Data phase bitrate"
+ depends on NET_CAN_CANFD
+ default 4000000
+
+config IMX9_FLEXCAN1_DATA_SAMPLEP
+ int "CAN FD Data phase sample point"
+ depends on NET_CAN_CANFD
+ default 75
+
+endmenu # IMX9_FLEXCAN1
+
+menu "FLEXCAN2 Configuration"
+ depends on IMX9_FLEXCAN2
+
+config IMX9_FLEXCAN2_BITRATE
+ int "CAN bitrate"
+ depends on !NET_CAN_CANFD
+ default 1000000
+
+config IMX9_FLEXCAN2_SAMPLEP
+ int "CAN sample point"
+ depends on !NET_CAN_CANFD
+ default 75
+
+config IMX9_FLEXCAN2_ARBI_BITRATE
+ int "CAN FD Arbitration phase bitrate"
+ depends on NET_CAN_CANFD
+ default 1000000
+
+config IMX9_FLEXCAN2_ARBI_SAMPLEP
+ int "CAN FD Arbitration phase sample point"
+ depends on NET_CAN_CANFD
+ default 75
+
+config IMX9_FLEXCAN2_DATA_BITRATE
+ int "CAN FD Data phase bitrate"
+ depends on NET_CAN_CANFD
+ default 4000000
+
+config IMX9_FLEXCAN2_DATA_SAMPLEP
+ int "CAN FD Data phase sample point"
+ depends on NET_CAN_CANFD
+ default 75
+
+endmenu # IMX9_FLEXCAN2
+
endmenu # iMX Peripheral Selection
endif # ARCH_CHIP_IMX9
diff --git a/arch/arm64/src/imx9/Make.defs b/arch/arm64/src/imx9/Make.defs
index 6cb5db086a..2f93f08a35 100644
--- a/arch/arm64/src/imx9/Make.defs
+++ b/arch/arm64/src/imx9/Make.defs
@@ -80,3 +80,7 @@ endif
ifeq ($(CONFIG_IMX9_BOOTLOADER), y)
CHIP_CSRCS += imx9_system_ctl.c
endif
+
+ifeq ($(CONFIG_IMX9_FLEXCAN), y)
+ CHIP_CSRCS += imx9_flexcan.c
+endif
diff --git a/arch/arm64/src/imx9/hardware/imx9_flexcan.h b/arch/arm64/src/imx9/hardware/imx9_flexcan.h
new file mode 100644
index 0000000000..b15a64cf41
--- /dev/null
+++ b/arch/arm64/src/imx9/hardware/imx9_flexcan.h
@@ -0,0 +1,487 @@
+/****************************************************************************
+ * arch/arm64/src/imx9/hardware/imx9_flexcan.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __ARCH_ARM64_SRC_IMX9_HARDWARE_IMX9_FLEXCAN_H
+#define __ARCH_ARM64_SRC_IMX9_HARDWARE_IMX9_FLEXCAN_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include "chip.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Register Offsets *********************************************************/
+
+#define IMX9_CAN_MCR_OFFSET 0x0000 /* Module Configuration Register */
+#define IMX9_CAN_CTRL1_OFFSET 0x0004 /* Control 1 Register */
+#define IMX9_CAN_TIMER_OFFSET 0x0008 /* Free Running Timer */
+#define IMX9_CAN_RXMGMASK_OFFSET 0x0010 /* Rx Mailboxes Global Mask Register */
+#define IMX9_CAN_RX14MASK_OFFSET 0x0014 /* Rx 14 Mask Register */
+#define IMX9_CAN_RX15MASK_OFFSET 0x0018 /* Rx 15 Mask Register */
+#define IMX9_CAN_ECR_OFFSET 0x001c /* Error Counter */
+#define IMX9_CAN_ESR1_OFFSET 0x0020 /* Error and Status 1 Register */
+#define IMX9_CAN_IMASK2_OFFSET 0x0024 /* Interrupt Masks 2 Register */
+#define IMX9_CAN_IMASK1_OFFSET 0x0028 /* Interrupt Masks 1 Register */
+#define IMX9_CAN_IFLAG2_OFFSET 0x002c /* Interrupt Flags 2 Register */
+#define IMX9_CAN_IFLAG1_OFFSET 0x0030 /* Interrupt Flags 1 Register */
+#define IMX9_CAN_CTRL2_OFFSET 0x0034 /* Control 2 Register */
+#define IMX9_CAN_ESR2_OFFSET 0x0038 /* Error and Status 2 Register */
+#define IMX9_CAN_CRCR_OFFSET 0x0044 /* CRC Register */
+#define IMX9_CAN_RXFGMASK_OFFSET 0x0048 /* Rx FIFO Global Mask Register */
+#define IMX9_CAN_RXFIR_OFFSET 0x004c /* Rx FIFO Information Register */
+#define IMX9_CAN_CBT_OFFSET 0x0050 /* CAN Bit Timing Register */
+#define IMX9_CAN_IMASK3_OFFSET 0x006C /* Interrupt Masks 3 Register */
+#define IMX9_CAN_IFLAG3_OFFSET 0x0074 /* Interrupt Flags 3 Register */
+#define IMX9_CAN_ET_OFFSET 0x0078 /* External Timer Register */
+#define IMX9_CAN_FLTC_IE_OFFSET 0x007c /* Fault Confinement Interrupt Enable Register */
+
+#define IMX9_CAN_MB_OFFSET 0x0080 /* CAN MB start */
+#define IMX9_CAN_MB_SIZE 0x0600
+#define IMX9_CAN_MB_END (IMX9_CAN_MB_OFFSET + IMX9_CAN_MB_SIZE)
+
+#define IMX9_CAN_RXIMR_OFFSET(n) (0x0880+((n)<<2)) /* Rn Individual Mask Registers */
+#define IMX9_CAN_N_RXIMR 96 /* RXIMR 0-95 */
+
+#define IMX9_CAN_RXFMB_OFFSET(n) (0x0A80+((n)<<2)) /* Legacy FIFO Information memory area */
+#define IMX9_CAN_N_RXFMB 6 /* Number of RXFIR registers */
+
+#define IMX9_CAN_TXSMB_OFFSET 0x0ab0 /* Tx_SMB */
+#define IMX9_CAN_RXSMB0_OFFSET 0x0ac0 /* Rx_SMB0 */
+#define IMX9_CAN_TXSMB1_OFFSET 0x0ad0 /* Rx_SMB1 */
+#define IMX9_CAN_TXSMBFD_OFFSET 0x0f28 /* Tx_SMB for can-fd */
+#define IMX9_CAN_RXSMB0FD_OFFSET 0x0f70 /* Rx_SMB0 for can-fd */
+#define IMX9_CAN_TXSMB1FD_OFFSET 0x0fb8 /* Rx_SMB1 for can-fd */
+
+#define IMX9_CAN_MECR_OFFSET 0x0ae0 /* Memory Error Control Register */
+#define IMX9_CAN_ERRIAR_OFFSET 0x0ae4 /* Error Injection Address Register */
+#define IMX9_CAN_ERRIDPR_OFFSET 0x0ae8 /* Error Injection Data Pattern Register */
+#define IMX9_CAN_ERRIPPR_OFFSET 0x0aec /* Error Injection Parity Pattern Register */
+#define IMX9_CAN_RERRAR_OFFSET 0x0af0 /* Error Report Address Register */
+#define IMX9_CAN_RERRDR_OFFSET 0x0af4 /* Error Report Data Register */
+#define IMX9_CAN_RERRSYNR_OFFSET 0x0af8 /* Error Report Syndrome Register */
+#define IMX9_CAN_ERRSR_OFFSET 0x0afc /* Error Status Register */
+#define IMX9_CAN_EPRS_OFFSET 0x0bf0 /* Enhanced CAN Bit Timing Prescalers Register */
+#define IMX9_CAN_ENCBT_OFFSET 0x0bf4 /* Enhanced Nominal CAN Bit Timing Register */
+#define IMX9_CAN_EDCBT_OFFSET 0x0bf8 /* Enhanced Data Phase CAN Bit Timing Register */
+#define IMX9_CAN_ETDC_OFFSET 0x0bfc /* Enhanced Transceiver Delay Compensation Register */
+
+#define IMX9_CAN_FDCTRL_OFFSET 0x0c00 /* CAN FD Control Register */
+#define IMX9_CAN_FDCBT_OFFSET 0x0c04 /* CAN FD Bit Timing Register */
+#define IMX9_CAN_FDCRC_OFFSET 0x0c08 /* CAN FD CRC register */
+
+/* Register Bit Definitions *************************************************/
+
+/* Module Configuration Register */
+
+#define CAN_MCR_MAXMB_SHIFT (0) /* Bits 0-6: Number of the Last Message Buffer */
+#define CAN_MCR_MAXMB_MASK (0x7f << CAN_MCR_MAXMB_SHIFT)
+#define CAN_MCR_TPOE (1 << 7) /* Bit 7: TX Pin Override Enable */
+
+#define CAN_MCR_IDAM_SHIFT (8) /* Bits 8-9: ID Acceptance Mode */
+#define CAN_MCR_IDAM_MASK (3 << CAN_MCR_IDAM_SHIFT)
+# define CAN_MCR_IDAM_FMTA (0 << CAN_MCR_IDAM_SHIFT) /* Format A: One full ID */
+# define CAN_MCR_IDAM_FMTB (1 << CAN_MCR_IDAM_SHIFT) /* Format B: Two full (or partial) IDs */
+# define CAN_MCR_IDAM_FMTC (2 << CAN_MCR_IDAM_SHIFT) /* Format C: Four partial IDs */
+# define CAN_MCR_IDAM_FMTD (3 << CAN_MCR_IDAM_SHIFT) /* Format D: All frames rejected */
+
+#define CAN_MCR_TPOV (1 << 10) /* Bit 10: TX Pin Override Value */
+#define CAN_MCR_FDEN (1 << 11) /* Bit 11: CAN FD Operation Enable */
+#define CAN_MCR_AEN (1 << 12) /* Bit 12: Abort Enable */
+#define CAN_MCR_LPRIOEN (1 << 13) /* Bit 13: Local Priority Enable */
+ /* Bit 14: Reserved */
+#define CAN_MCR_DMA (1 << 15) /* Bit 15: DMA Enable */
+#define CAN_MCR_IRMQ (1 << 16) /* Bit 16: Individual Rx Masking and Queue Enable */
+#define CAN_MCR_SRXDIS (1 << 17) /* Bit 17: Self Reception Disable */
+#define CAN_MCR_DOZE (1 << 18) /* Bit 18: Doze Mode Enable */
+#define CAN_MCR_WAKSRC (1 << 19) /* Bit 19: Wake Up Source */
+#define CAN_MCR_LPMACK (1 << 20) /* Bit 20: Low Power Mode Acknowledge */
+#define CAN_MCR_WRNEN (1 << 21) /* Bit 21: Warning Interrupt Enable */
+#define CAN_MCR_SLFWAK (1 << 22) /* Bit 22: Self Wake Up */
+#define CAN_MCR_SUPV (1 << 23) /* Bit 23: Supervisor Mode */
+#define CAN_MCR_FRZACK (1 << 24) /* Bit 24: Freeze Mode Acknowledge */
+#define CAN_MCR_SOFTRST (1 << 25) /* Bit 25: Soft Reset */
+#define CAN_MCR_WAKMSK (1 << 26) /* Bit 26: Wake Up Interrupt Mask */
+#define CAN_MCR_NOTRDY (1 << 27) /* Bit 27: FlexCAN Not Ready */
+#define CAN_MCR_HALT (1 << 28) /* Bit 28: Halt FlexCAN */
+#define CAN_MCR_RFEN (1 << 29) /* Bit 29: Legacy Rx FIFO Enable */
+#define CAN_MCR_FRZ (1 << 30) /* Bit 30: Freeze Enable */
+#define CAN_MCR_MDIS (1 << 31) /* Bit 31: Module Disable */
+
+/* Control 1 Register */
+
+#define CAN_CTRL1_PROPSEG_SHIFT (0) /* Bits 0-2: Propagation Segment */
+#define CAN_CTRL1_PROPSEG_MASK (7 << CAN_CTRL1_PROPSEG_SHIFT)
+#define CAN_CTRL1_PROPSEG(x) (((uint32_t)(((uint32_t)(x)) << CAN_CTRL1_PROPSEG_SHIFT)) & CAN_CTRL1_PROPSEG_MASK)
+#define CAN_CTRL1_LOM (1 << 3) /* Bit 3: Listen-Only Mode */
+#define CAN_CTRL1_LBUF (1 << 4) /* Bit 4: Lowest Buffer Transmitted First */
+#define CAN_CTRL1_TSYN (1 << 5) /* Bit 5: Timer Sync */
+#define CAN_CTRL1_BOFFREC (1 << 6) /* Bit 6: Bus Off Recovery */
+#define CAN_CTRL1_SMP (1 << 7) /* Bit 7: CAN Bit Sampling */
+#define CAN_CTRL1_ROM (1 << 7) /* Bit 8: Restricted Operation Mode */
+ /* Bit 9: Reserved */
+#define CAN_CTRL1_RWRNMSK (1 << 10) /* Bit 10: Rx Warning Interrupt Mask */
+#define CAN_CTRL1_TWRNMSK (1 << 11) /* Bit 11: Tx Warning Interrupt Mask */
+#define CAN_CTRL1_LPB (1 << 12) /* Bit 12: Loop Back Mode */
+#define CAN_CTRL1_CLKSRC (1 << 13) /* Bit 13: CAN Engine Clock Source */
+#define CAN_CTRL1_ERRMSK (1 << 14) /* Bit 14: Error Mask */
+#define CAN_CTRL1_BOFFMSK (1 << 15) /* Bit 15: Bus Off Mask */
+#define CAN_CTRL1_PSEG2_SHIFT (16) /* Bits 16-18: Phase Segment 2 */
+#define CAN_CTRL1_PSEG2_MASK (7 << CAN_CTRL1_PSEG2_SHIFT)
+#define CAN_CTRL1_PSEG2(x) (((uint32_t)(((uint32_t)(x)) << CAN_CTRL1_PSEG2_SHIFT)) & CAN_CTRL1_PSEG2_MASK)
+#define CAN_CTRL1_PSEG1_SHIFT (19) /* Bits 19-21: Phase Segment 1 */
+#define CAN_CTRL1_PSEG1_MASK (7 << CAN_CTRL1_PSEG1_SHIFT)
+#define CAN_CTRL1_PSEG1(x) (((uint32_t)(((uint32_t)(x)) << CAN_CTRL1_PSEG1_SHIFT)) & CAN_CTRL1_PSEG1_MASK)
+#define CAN_CTRL1_RJW_SHIFT (22) /* Bits 22-23: Resync Jump Width */
+#define CAN_CTRL1_RJW_MASK (3 << CAN_CTRL1_RJW_SHIFT)
+#define CAN_CTRL1_RJW(x) (((uint32_t)(((uint32_t)(x)) << CAN_CTRL1_RJW_SHIFT)) & CAN_CTRL1_RJW_MASK)
+#define CAN_CTRL1_PRESDIV_SHIFT (24) /* Bits 24-31: Prescaler Division Factor */
+#define CAN_CTRL1_PRESDIV_MASK (0xff << CAN_CTRL1_PRESDIV_SHIFT)
+#define CAN_CTRL1_PRESDIV(x) (((uint32_t)(((uint32_t)(x)) << CAN_CTRL1_PRESDIV_SHIFT)) & CAN_CTRL1_PRESDIV_MASK)
+
+/* Free Running Timer */
+
+#define CAN_TIMER_SHIFT (0) /* Bits 0-15: Timer value */
+#define CAN_TIMER_MASK (0xffff << CAN_TIMER_SHIFT)
+ /* Bits 16-31: Reserved */
+
+/* Rx Mailboxes Global Mask Register (32 Rx Mailboxes Global Mask Bits) */
+
+#define CAN_RXMGMASK(n) (1 << (n)) /* Bit n: Rx Mailboxe n Global Mask Bit */
+
+/* Rx 14 Mask Register */
+
+#define CAN_RX14MASK(n) (1 << (n)) /* Bit n: Rx Buffer 14 Mask Bit n */
+
+/* Rx 15 Mask Register */
+
+#define CAN_RX15MASK(n) (1 << (n)) /* Bit n: Rx Buffer 15 Mask Bit n */
+
+/* Error Counter */
+
+#define CAN_ECR_TXERRCNT_SHIFT (0) /* Bits 0-7: Transmit Error Counter */
+#define CAN_ECR_TXERRCNT_MASK (0xff << CAN_ECR_TXERRCNT_SHIFT)
+#define CAN_ECR_RXERRCNT_SHIFT (8) /* Bits 8-15: Receive Error Counter */
+#define CAN_ECR_RXERRCNT_MASK (0xff << CAN_ECR_RXERRCNT_SHIFT)
+#define CAN_ECR_TXERRCNTFAST_SHIFT (16) /* Bits 16-23: Transmit Error Counter for fast bits */
+#define CAN_ECR_TXERRCNTFAST_MASK (0xff << CAN_ECR_TXERRCNTFAST_SHIFT)
+#define CAN_ECR_RXERRCNTFAST_SHIFT (24) /* Bits 24-31: Receive Error Counter for fast bits */
+#define CAN_ECR_RXERRCNTFAST_MASK (0xff << CAN_ECR_RXERRCNTFAST_SHIFT)
+ /* Bits 16-31: Reserved for FlexCAN1 and FlexCAN2 */
+
+/* Error and Status 1 Register */
+
+#define CAN_ESR1_WAKINT (1 << 0) /* Bit 0: Wake-Up Interrupt */
+#define CAN_ESR1_ERRINT (1 << 1) /* Bit 1: Error Interrupt */
+#define CAN_ESR1_BOFFINT (1 << 2) /* Bit 2: 'Bus Off' Interrupt */
+#define CAN_ESR1_RX (1 << 3) /* Bit 3: FlexCAN in Reception */
+#define CAN_ESR1_FLTCONF_SHIFT (4) /* Bits 4-5: Fault Confinement State */
+#define CAN_ESR1_FLTCONF_MASK (3 << CAN_ESR1_FLTCONF_SHIFT)
+# define CAN_ESR1_FLTCONF_ACTV (0 << CAN_ESR1_FLTCONF_SHIFT)
+ /* Error Active */
+# define CAN_ESR1_FLTCONF_PASV (1 << CAN_ESR1_FLTCONF_SHIFT)
+ /* Error Passive */
+# define CAN_ESR1_FLTCONF_OFF (2 << CAN_ESR1_FLTCONF_SHIFT)
+ /* Bus Off */
+#define CAN_ESR1_TX (1 << 6) /* Bit 6: FlexCAN in Transmission */
+#define CAN_ESR1_IDLE (1 << 7) /* Bit 7: CAN bus is in IDLE state */
+#define CAN_ESR1_RXWRN (1 << 8) /* Bit 8: Rx Error Warning */
+#define CAN_ESR1_TXWRN (1 << 9) /* Bit 9: TX Error Warning */
+#define CAN_ESR1_STFERR (1 << 10) /* Bit 10: Stuffing Error */
+#define CAN_ESR1_FRMERR (1 << 11) /* Bit 11: Form Error */
+#define CAN_ESR1_CRCERR (1 << 12) /* Bit 12: Cyclic Redundancy Check Error */
+#define CAN_ESR1_ACKERR (1 << 13) /* Bit 13: Acknowledge Error */
+#define CAN_ESR1_BIT0ERR (1 << 14) /* Bit 14: Bit0 Error */
+#define CAN_ESR1_BIT1ERR (1 << 15) /* Bit 15: Bit1 Error */
+#define CAN_ESR1_RWRNINT (1 << 16) /* Bit 16: Rx Warning Interrupt Flag */
+#define CAN_ESR1_TWRNINT (1 << 17) /* Bit 17: Tx Warning Interrupt Flag */
+#define CAN_ESR1_SYNCH (1 << 18) /* Bit 18: CAN Synchronization Status */
+#define CAN_ESR1_BOFFDONEINT (1 << 19) /* Bit 19: Bus Off Done Interrupt */
+#define CAN_ESR1_ERRINTFAST (1 << 20) /* Bit 20: Error Iterrupt for Errors Detected in Data Phase of CAN FD frames */
+#define CAN_ESR1_ERROVR (1 << 21) /* Bit 21: Error Overrun */
+#define CAN_ESR1_ATP (1 << 22) /* Bit 22: Active to Passive State */
+#define CAN_ESR1_PTA (1 << 23) /* Bit 23: Passive to Active State */
+ /* Bits 24-25: Reserved */
+#define CAN_ESR1_STFERRFAST (1 << 26) /* Bit 26: Stuffing Error in the Data Phase of CAN FD frames */
+#define CAN_ESR1_FRMERRFAST (1 << 27) /* Bit 27: Form Error in the Data Phase of CAN FD frames */
+#define CAN_ESR1_CRCERRFAST (1 << 28) /* Bit 28: Cyclic Redundancy Check Error in the CRC field of CAN FD frames */
+ /* Bit 29: Reserved */
+#define CAN_ESR1_BIT0ERRFAST (1 << 30) /* Bit 30: Bit0 Error in the Data Phase of CAN FD frames */
+#define CAN_ESR1_BIT1ERRFAST (1 << 31) /* Bit 31: Bit1 Error in the Data Phase of CAN FD frames */
+ /* Bits 19-31: Reserved for FlexCAN1 and FlexCAN2 */
+
+/* Interrupt Masks 2 Register */
+
+#define CAN_IMASK2(n) (1 << (n)) /* Bit n: Buffer MBn Mask */
+
+/* Interrupt Masks 1 Register */
+
+#define CAN_IMASK1(n) (1 << (n)) /* Bit n: Buffer MBn Mask */
+
+/* Interrupt Flags 2 Register */
+
+#define CAN_IFLAG2(n) (1 << (n)) /* Bit n: Buffer MBn Interrupt */
+
+/* Interrupt Flags 1 Register */
+
+#define CAN_IFLAG1(n) (1 << (n)) /* Bit n: Buffer MBn Interrupt, n=0..4,8..31 */
+
+/* Control 2 Register */
+
+ /* Bits 0-1: Reserved */
+#define CAN_CTRL2_RETRY_SHIFT (2) /* Bits 2-4: Number of Retransmission Requests */
+#define CAN_CTRL2_RETRY_MASK (7 << CAN_CTRL2_RETRY_SHIFT)
+#define CAN_CTRL2_RETRY(x) (((x) << CAN_CTRL2_RETRY_SHIFT) & CAN_CTRL2_RETRY_MASK)
+ /* Bit 5: Reserved */
+#define CAN_CTRL2_TSTAMPCAP_SHIFT (6) /* Bits 6-7: Timestamp Capture Point */
+#define CAN_CTRL2_TSTAMPCAP_MASK (3 << CAN_CTRL2_TSTAMPCAP_SHIFT)
+# define CAN_CTRL2_TSTAMPCAP_DIS (0 << CAN_CTRL2_TSTAMPCAP_SHIFT) /* Disabled */
+# define CAN_CTRL2_TSTAMPCAP_EOF (1 << CAN_CTRL2_TSTAMPCAP_SHIFT) /* End of CAN frame */
+# define CAN_CTRL2_TSTAMPCAP_SOF (2 << CAN_CTRL2_TSTAMPCAP_SHIFT) /* Start of CAN frame */
+# define CAN_CTRL2_TSTAMPCAP_CSOF (3 << CAN_CTRL2_TSTAMPCAP_SHIFT) /* Start of classical CAN frame or res for CAN FD */
+
+#define CAN_CTRL2_MBTSBASE_SHIFT (8) /* Bits 8-9: Message Buffer Timestamp Base */
+#define CAN_CTRL2_MBTSBASE_MASK (3 << CAN_CTRL2_MBTSBASE_SHIFT)
+# define CAN_CTRL2_MBTSBASE_TIMER (0 << CAN_CTRL2_MBTSBASE_SHIFT) /* TIMER */
+# define CAN_CTRL2_MBTSBASE_LOWER (1 << CAN_CTRL2_MBTSBASE_SHIFT) /* Lower 16 bits of high-resolution timer */
+# define CAN_CTRL2_MBTSBASE_UPPER (2 << CAN_CTRL2_MBTSBASE_SHIFT) /* Upper 16 bits of high-resolution timer */
+
+#define CAN_CTRL2_FLTRXN (1 << 10) /* Bit 10: Fault reaction */
+#define CAN_CTRL2_EDFLTDIS (1 << 11) /* Bit 11: Edge Filter Disable */
+#define CAN_CTRL2_ISOCANFDEN (1 << 12) /* Bit 12: ISO CAN FD Enable */
+#define CAN_CTRL2_BTE (1 << 13) /* Bit 13: Bit Timing Expansion Enable */
+#define CAN_CTRL2_PREXCEN (1 << 14) /* Bit 14: Protocol Exception Enable */
+#define CAN_CTRL2_TIMERSRC (1 << 15) /* Bit 15: Timer Source */
+#define CAN_CTRL2_EACEN (1 << 16) /* Bit 16: Entire Frame Arbitration Field Comparison Enable (Rx) */
+#define CAN_CTRL2_RRS (1 << 17) /* Bit 17: Remote Request Storing */
+#define CAN_CTRL2_MRP (1 << 18) /* Bit 18: Mailboxes Reception Priority */
+#define CAN_CTRL2_TASD_SHIFT (19) /* Bits 19-23: Tx Arbitration Start Delay */
+#define CAN_CTRL2_TASD_MASK (31 << CAN_CTRL2_TASD_SHIFT)
+#define CAN_CTRL2_RFFN_SHIFT (24) /* Bits 24-27: Number of Rx FIFO Filters */
+#define CAN_CTRL2_RFFN_MASK (15 << CAN_CTRL2_RFFN_SHIFT)
+# define CAN_CTRL2_RFFN_8MB (0 << CAN_CTRL2_RFFN_SHIFT)
+# define CAN_CTRL2_RFFN_16MB (1 << CAN_CTRL2_RFFN_SHIFT)
+# define CAN_CTRL2_RFFN_24MB (2 << CAN_CTRL2_RFFN_SHIFT)
+# define CAN_CTRL2_RFFN_32MB (3 << CAN_CTRL2_RFFN_SHIFT)
+# define CAN_CTRL2_RFFN_40MB (4 << CAN_CTRL2_RFFN_SHIFT)
+# define CAN_CTRL2_RFFN_48MB (5 << CAN_CTRL2_RFFN_SHIFT)
+# define CAN_CTRL2_RFFN_56MB (6 << CAN_CTRL2_RFFN_SHIFT)
+# define CAN_CTRL2_RFFN_64MB (7 << CAN_CTRL2_RFFN_SHIFT)
+# define CAN_CTRL2_RFFN_72MB (8 << CAN_CTRL2_RFFN_SHIFT)
+# define CAN_CTRL2_RFFN_80MB (9 << CAN_CTRL2_RFFN_SHIFT)
+# define CAN_CTRL2_RFFN_88MB (10 << CAN_CTRL2_RFFN_SHIFT)
+# define CAN_CTRL2_RFFN_96MB (11 << CAN_CTRL2_RFFN_SHIFT)
+# define CAN_CTRL2_RFFN_104MB (12 << CAN_CTRL2_RFFN_SHIFT)
+# define CAN_CTRL2_RFFN_112MB (13 << CAN_CTRL2_RFFN_SHIFT)
+# define CAN_CTRL2_RFFN_120MB (14 << CAN_CTRL2_RFFN_SHIFT)
+# define CAN_CTRL2_RFFN_128MB (15 << CAN_CTRL2_RFFN_SHIFT)
+
+#define CAN_CTRL2_WRMFRZ (1 << 28) /* Bit 28: Write Access to Memory in Freeze Mode */
+#define CAN_CTRL2_ECRWRE (1 << 29) /* Bit 28: Error Correction Configuration Register Write Enable */
+#define CAN_CTRL2_BOFFDONEMSK (1 << 30) /* Bit 30: Bus Off Done Interrupt Mask */
+#define CAN_CTRL2_ERRMSKFAST (1 << 31) /* Bit 31: Error Interrupt for Errors Detected in the Data Phase of CAN FD frames */
+#define CAN_CTRL2_WRMFRZ (1 << 28) /* Bit 28: Enable unrestricted write access to FlexCAN memory in Freeze mode */
+ /* Bits 29-31: Reserved */
+
+/* Error and Status 2 Register */
+
+ /* Bits 0-11: Reserved */
+#define CAN_ESR2_RX_PIN_ST (1 << 12) /* Bit 12: RX Pin Status */
+#define CAN_ESR2_IMB (1 << 13) /* Bit 13: Inactive Mailbox */
+#define CAN_ESR2_VPS (1 << 14) /* Bit 14: Valid Priority Status */
+ /* Bit 15: Reserved */
+#define CAN_ESR2_LPTM_SHIFT (16) /* Bits 16-22: Lowest Priority Tx Mailbox */
+#define CAN_ESR2_LPTM_MASK (0x7f << CAN_ESR2_LPTM_SHIFT)
+ /* Bits 23-31: Reserved */
+
+/* CRC Register */
+
+#define CAN_CRCR_TXCRC_SHIFT (0) /* Bits 0-14: CRC Transmitted */
+#define CAN_CRCR_TXCRC_MASK (0x7fff << CAN_CRCR_TXCRC_SHIFT)
+ /* Bit 15: Reserved */
+#define CAN_CRCR_MBCRC_SHIFT (16) /* Bits 16-22: CRC Mailbox */
+#define CAN_CRCR_MBCRC_MASK (0x7f << CAN_CRCR_MBCRC_SHIFT)
+ /* Bits 23-31: Reserved */
+
+/* Rx FIFO Global Mask Register (32 Rx FIFO Global Mask Bits) */
+
+#define CAN_RXFGMASK(n) (1 << (n)) /* Bit n: Rx FIFO n Global Mask Bit */
+
+/* Rx FIFO Information Register */
+
+ /* Bits 9-31: Reserved */
+#define CAN_RXFIR_IDHIT_SHIFT (0) /* Bits 0-8: Identifier Acceptance Filter Hit Indicator */
+#define CAN_RXFIR_IDHIT_MASK (0x1ff << CAN_RXFIR_IDHIT_SHIFT)
+
+/* Rx Individual Mask Registers */
+
+#define CAN_RXIMR(n) (1 << (n)) /* Bit n: Individual Mask Bits */
+
+/* CAN Bit Timing register */
+
+#define CAN_CBT_EPSEG2_SHIFT (0) /* Bits 0-4: Extended Phase Segment 2 */
+#define CAN_CBT_EPSEG2_MASK (0x1f << CAN_CBT_EPSEG2_SHIFT)
+#define CAN_CBT_EPSEG2(x) (((uint32_t)(((uint32_t)(x)) << CAN_CBT_EPSEG2_SHIFT)) & CAN_CBT_EPSEG2_MASK)
+#define CAN_CBT_EPSEG1_SHIFT (5) /* Bits 5-9: Extended Phase Segment 1 */
+#define CAN_CBT_EPSEG1_MASK (0x1f << CAN_CBT_EPSEG1_SHIFT)
+#define CAN_CBT_EPSEG1(x) (((uint32_t)(((uint32_t)(x)) << CAN_CBT_EPSEG1_SHIFT)) & CAN_CBT_EPSEG1_MASK)
+#define CAN_CBT_EPROPSEG_SHIFT (10) /* Bits 10-15: Extended Propagation Segment */
+#define CAN_CBT_EPROPSEG_MASK (0x1f << CAN_CBT_EPROPSEG_SHIFT)
+#define CAN_CBT_EPROPSEG(x) (((uint32_t)(((uint32_t)(x)) << CAN_CBT_EPROPSEG_SHIFT)) & CAN_CBT_EPROPSEG_MASK)
+#define CAN_CBT_ERJW_SHIFT (16) /* Bits 16-20: Extended Resync Jump Width */
+#define CAN_CBT_ERJW_MASK (0x1f << CAN_CBT_ERJW_SHIFT)
+#define CAN_CBT_ERJW(x) (((uint32_t)(((uint32_t)(x)) << CAN_CBT_ERJW_SHIFT)) & CAN_CBT_ERJW_MASK)
+#define CAN_CBT_EPRESDIV_SHIFT (21) /* Bits 21-30: Extendet Prescaler Division Factor */
+#define CAN_CBT_EPRESDIV_MASK (0x3ff << CAN_CBT_EPRESDIV_SHIFT)
+#define CAN_CBT_EPRESDIV(x) (((uint32_t)(((uint32_t)(x)) << CAN_CBT_EPRESDIV_SHIFT)) & CAN_CBT_EPRESDIV_MASK)
+#define CAN_CBT_BTF (1 << 31) /* Bit 31: Bit Timing Format Enable */
+
+/* Interrupt Masks 3 Register */
+
+#define CAN_IMASK3(n) (1 << (n)) /* Bit n: Buffer MBn Mask (95TO64) */
+
+/* Interrupt Flags 3 Register */
+
+#define CAN_IFLAG3(n) (1 << (n)) /* Bit n: Buffer MBn Interrupt (95TO64) */
+
+#define IMX9_CAN_FLTC_ATP_IE (1 << 0) /* Active to passive interrupt enable */
+#define IMX9_CAN_FLTC_PTA_IE (1 << 1) /* Passive to active interrupt enable */
+
+/* TODO: add bit definitions for FLTCONF_IO to ETDC registers when needed */
+
+/* CAN FD Control register */
+
+#define CAN_FDCTRL_TDCVAL_SHIFT (0) /* Bits 0-5: Transceiver Delay Compensation Value */
+#define CAN_FDCTRL_TDCVAL_MASK (0x3f << CAN_FDCTRL_TDCVAL_SHIFT)
+ /* Bits 6-7: Reserved */
+#define CAN_FDCTRL_TDCOFF_SHIFT (8) /* Bits 8-12: Transceiver Delay Compensation Offset */
+#define CAN_FDCTRL_TDCOFF_MASK (0x3f << CAN_FDCTRL_TDCOFF_SHIFT)
+#define CAN_FDCTRL_TDCOFF(x) (((uint32_t)(((uint32_t)(x)) << CAN_FDCTRL_TDCOFF_SHIFT)) & CAN_FDCTRL_TDCOFF_MASK)
+ /* Bit 13: Reserved */
+#define CAN_FDCTRL_TDCFAIL (1 << 14) /* Bit 14: Transceiver Delay Compensation Fail */
+#define CAN_FDCTRL_TDCEN (1 << 15) /* Bit 15: Transceiver Delay Compensation Enable */
+#define CAN_FDCTRL_MBDSR0_SHIFT (16) /* Bits 16-17: Message Buffer Data Size for Region 0 */
+#define CAN_FDCTRL_MBDSR0_MASK (0x3 << CAN_FDCTRL_MBDSR0_SHIFT)
+#define CAN_FDCTRL_MBDSR0(x) (((uint32_t)(((uint32_t)(x)) << CAN_FDCTRL_MBDSR0_SHIFT)) & CAN_FDCTRL_MBDSR0_MASK)
+ /* Bit 18: Reserved */
+#define CAN_FDCTRL_MBDSR1_SHIFT (19) /* Bits 19-20: Message Buffer Data Size for Region 1 */
+#define CAN_FDCTRL_MBDSR1_MASK (0x3 << CAN_FDCTRL_MBDSR1_SHIFT)
+#define CAN_FDCTRL_MBDSR1(x) (((uint32_t)(((uint32_t)(x)) << CAN_FDCTRL_MBDSR1_SHIFT)) & CAN_FDCTRL_MBDSR1_MASK)
+
+#define CAN_FDCTRL_MBDSR2_SHIFT (22) /* Bits 22-23: Message Buffer Data Size for Region 2 */
+#define CAN_FDCTRL_MBDSR2_MASK (0x3 << CAN_FDCTRL_MBDSR2_SHIFT)
+#define CAN_FDCTRL_MBDSR2(x) (((uint32_t)(((uint32_t)(x)) << CAN_FDCTRL_MBDSR2_SHIFT)) & CAN_FDCTRL_MBDSR2_MASK)
+ /* Bits 24-30: Reserved */
+#define CAN_FDCTRL_FDRATE (1 << 31) /* Bit 31: Bit Rate Switch Enable */
+
+/* CAN FD Bit Timing register */
+
+#define CAN_FDCBT_FPSEG2_SHIFT (0) /* Bits 0-2: Fast Phase Segment 2 */
+#define CAN_FDCBT_FPSEG2_MASK (0x7 << CAN_FDCBT_FPSEG2_SHIFT)
+#define CAN_FDCBT_FPSEG2(x) (((uint32_t)(((uint32_t)(x)) << CAN_FDCBT_FPSEG2_SHIFT)) & CAN_FDCBT_FPSEG2_MASK)
+ /* Bits 3-4: Reserved */
+#define CAN_FDCBT_FPSEG1_SHIFT (5) /* Bits 5-7: Fast Phase Segment 1 */
+#define CAN_FDCBT_FPSEG1_MASK (0x7 << CAN_FDCBT_FPSEG1_SHIFT)
+#define CAN_FDCBT_FPSEG1(x) (((uint32_t)(((uint32_t)(x)) << CAN_FDCBT_FPSEG1_SHIFT)) & CAN_FDCBT_FPSEG1_MASK)
+ /* Bits 8-9: Reserved */
+#define CAN_FDCBT_FPROPSEG_SHIFT (10) /* Bits 10-14: Fast Propagation Segment */
+#define CAN_FDCBT_FPROPSEG_MASK (0x1f << CAN_FDCBT_FPROPSEG_SHIFT)
+#define CAN_FDCBT_FPROPSEG(x) (((uint32_t)(((uint32_t)(x)) << CAN_FDCBT_FPROPSEG_SHIFT)) & CAN_FDCBT_FPROPSEG_MASK)
+ /* Bit 15: Reserved */
+#define CAN_FDCBT_FRJW_SHIFT (16) /* Bits 16-18: Fast Propagation Segment */
+#define CAN_FDCBT_FRJW_MASK (0x7 << CAN_FDCBT_FRJW_SHIFT)
+#define CAN_FDCBT_FRJW(x) (((uint32_t)(((uint32_t)(x)) << CAN_FDCBT_FRJW_SHIFT)) & CAN_FDCBT_FRJW_MASK)
+ /* Bit 19: Reserved */
+#define CAN_FDCBT_FPRESDIV_SHIFT (20) /* Bits 20-29: Fast Propagation Segment */
+#define CAN_FDCBT_FPRESDIV_MASK (0x3ff << CAN_FDCBT_FPRESDIV_SHIFT)
+#define CAN_FDCBT_FPRESDIV(x) (((uint32_t)(((uint32_t)(x)) << CAN_FDCBT_FPRESDIV_SHIFT)) & CAN_FDCBT_FPRESDIV_MASK)
+ /* Bits 30-31: Reserved */
+
+/* CAN FD CRC register */
+
+#define CAN_FDCRC_FD_TXCRC_SHIFT (0) /* Bits 0-20: Extended Transmitted CRC value */
+#define CAN_FDCRC_FD_TXCRC_MASK (0x1fffff << CAN_FDCRC_FD_TXCRC_SHIFT)
+#define CAN_FDCRC_FD_TXCRC(x) (((uint32_t)(((uint32_t)(x)) << CAN_FDCRC_FD_TXCRC_SHIFT)) & CAN_FDCRC_FD_TXCRC_MASK)
+ /* Bits 21-23: Reserved */
+#define CAN_FDCRC_FD_MBCRC_SHIFT (24) /* Bits 24-30: Extended Transmitted CRC value */
+#define CAN_FDCRC_FD_MBCRC_MASK (0x7f << CAN_FDCRC_FD_MBCRC_SHIFT)
+#define CAN_FDCRC_FD_MBCRC(x) (((uint32_t)(((uint32_t)(x)) << CAN_FDCRC_FD_MBCRC_SHIFT)) & CAN_FDCRC_FD_MBCRC_MASK)
+ /* Bit 31: Reserved */
+
+/* CAN MB TX & RX codes */
+
+#define CAN_RXMB_INACTIVE 0x0 /* MB is inactive */
+#define CAN_RXMB_FULL 0x2 /* MB is full */
+#define CAN_RXMB_EMPTY 0x4 /* MB is empty */
+#define CAN_RXMB_OVERRUN 0x6 /* overrun */
+#define CAN_RXMB_BUSY_BIT 0x1 /* BUSY, orred with any of the above */
+
+/* CAN MB TX codes */
+
+#define CAN_TXMB_INACTIVE 0x8 /* MB is not active. */
+#define CAN_TXMB_ABORT 0x9 /* MB is aborted. */
+#define CAN_TXMB_DATAORREMOTE 0xC /* MB is a TX Data Frame(when MB RTR = 0) or */
+ /* MB is a TX Remote Request Frame (when MB RTR = 1). */
+#define CAN_TXMB_TANSWER 0xE /* MB is a TX Response Request Frame from */
+ /* an incoming Remote Request Frame. */
+
+/* CAN MB CS fields (1st 32-bit word of header) */
+
+#define CAN_MB_CS_TIMESTAMP_SHIFT 0 /* Free-Running Counter Timestamp */
+#define CAN_MB_CS_TIMESTAMP_MASK (0xffff << CAN_MB_CS_TIMESTAMP_SHIFT)
+#define CAN_MB_CS_TIMESTAMP(x) (((x) & CAN_MB_CS_TIMESTAMP_MASK) >> CAN_MB_CS_TIMESTAMP_SHIFT)
+#define CAN_MB_CS_DLC_SHIFT 16 /* Length of Data in Bytes */
+#define CAN_MB_CS_DLC_MASK (0xf << CAN_MB_CS_DLC_SHIFT)
+#define CAN_MB_CS_DLC(x) (((x) & CAN_MB_CS_DLC_MASK) >> CAN_MB_CS_DLC_SHIFT)
+#define CAN_MB_CS_RTR (1 << 20) /* Remote Transmission Request */
+#define CAN_MB_CS_IDE (1 << 21) /* ID Extended Bit */
+#define CAN_MB_CS_SSR (1 << 22) /* Substitute Remote Request */
+ /* Bit 23: Reserved */
+#define CAN_MB_CS_CODE_SHIFT 24 /* Message buffer code */
+#define CAN_MB_CS_CODE_MASK (0xf << CAN_MB_CS_CODE_SHIFT)
+ /* Bit 28: Reserved */
+#define CAN_MB_CS_CODE(x) (((x) & CAN_MB_CS_CODE_MASK) >> CAN_MB_CS_CODE_SHIFT)
+#define CAN_MB_CS_ESI (1 << 29) /* Error State Indicator */
+#define CAN_MB_CS_BRS (1 << 30) /* Bit Rate Switch */
+#define CAN_MB_CS_EDL (1 << 31) /* Extended Data Length */
+
+/* CAN MB PRIO and ID fields (2nd 32-bit word of header) */
+
+#define CAN_MB_ID_ID_SHIFT 0
+#define CAN_MB_ID_ID_MASK (0x1fffffff << CAN_MB_ID_ID_SHIFT)
+#define CAN_MB_ID_ID_STD_SHIFT 18
+#define CAN_MB_ID_ID_STD_MASK (0x7ff << CAN_MB_ID_ID_STD_SHIFT)
+#define CAN_MB_ID_PRIO_SHIFT 29
+#define CAN_MB_ID_PRIO_MASK (0x7 << CAN_MB_ID_PRIO_SHIFT)
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+#endif /* __ARCH_ARM64_SRC_IMX9_HARDWARE_IMX9_FLEXCAN_H */
diff --git a/arch/arm64/src/imx9/imx9_flexcan.c b/arch/arm64/src/imx9/imx9_flexcan.c
new file mode 100644
index 0000000000..24de6f5d8d
--- /dev/null
+++ b/arch/arm64/src/imx9/imx9_flexcan.c
@@ -0,0 +1,2086 @@
+/****************************************************************************
+ * arch/arm64/src/imx9/imx9_flexcan.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <inttypes.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <unistd.h>
+#include <time.h>
+#include <string.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <nuttx/irq.h>
+#include <nuttx/arch.h>
+#include <nuttx/wqueue.h>
+#include <nuttx/spinlock.h>
+#include <nuttx/net/netdev.h>
+#include <nuttx/net/can.h>
+
+#include "arm64_internal.h"
+#include "imx9_flexcan.h"
+#include "imx9_ccm.h"
+#include "imx9_iomuxc.h"
+#include "hardware/imx9_ccm.h"
+#include "hardware/imx9_pinmux.h"
+
+#include <arch/board/board.h>
+
+#include <sys/time.h>
+
+#ifdef CONFIG_IMX9_FLEXCAN
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* If processing is not done at the interrupt level, then work queue support
+ * is required.
+ */
+
+#define CANWORK LPWORK
+#define CANRCVWORK HPWORK
+
+#define RXMBCOUNT CONFIG_IMX9_FLEXCAN_RXMB
+#define TXMBCOUNT CONFIG_IMX9_FLEXCAN_TXMB
+#define TOTALMBCOUNT (RXMBCOUNT + TXMBCOUNT)
+
+#define IFLAG1_RX ((1 << RXMBCOUNT)-1)
+#define IFLAG1_TX (((1 << TXMBCOUNT)-1) << RXMBCOUNT)
+
+#define POOL_SIZE 1
+
+#define MSG_DATA sizeof(struct timeval)
+
+#define TSEG_MIN 2
+
+/* Classical can CTRL1 bit timing */
+
+#define TSEG1_MAX 16
+#define TSEG2_MAX 8
+#define NUMTQ_MIN 8
+#define NUMTQ_MAX 25
+
+/* CAN FD CBT and FDCBT bit timing */
+
+#define TSEG1_FD_MAX 96
+#define TSEG2_FD_MAX 32
+#define NUMTQ_FD_MIN 8
+#define NUMTQ_FD_MAX 129
+
+#define TSEG1_FD_DATAMAX 39
+#define TSEG2_FD_DATAMAX 8
+#define NUMTQ_FD_DATAMIN 5
+#define NUMTQ_FD_DATAMAX 48
+
+#ifdef CONFIG_NET_CAN_RAW_TX_DEADLINE
+
+# if !defined(CONFIG_SCHED_WORKQUEUE)
+# error Work queue support is required
+# endif
+
+#define TX_TIMEOUT_WQ
+#endif
+
+#if (CONFIG_IMX9_FLEXCAN_RXMB + CONFIG_IMX9_FLEXCAN_TXMB) > 21
+# error Only 21 MB are allowed to be used
+#endif
+
+#ifdef CONFIG_NET_CAN_CANFD
+# define TX_POOL_SIZE ((sizeof(struct canfd_frame) + MSG_DATA) * POOL_SIZE)
+# define RX_POOL_SIZE ((sizeof(struct canfd_frame) + MSG_DATA) * POOL_SIZE)
+#else
+# define TX_POOL_SIZE (sizeof(struct can_frame) * POOL_SIZE)
+# define RX_POOL_SIZE (sizeof(struct can_frame) * POOL_SIZE)
+#endif
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+struct mb_s
+{
+ volatile uint32_t cs;
+ volatile uint32_t id;
+ volatile uint32_t data[];
+};
+
+#ifdef CONFIG_NET_CAN_RAW_TX_DEADLINE
+#define TX_ABORT -1
+#define TX_FREE 0
+#define TX_BUSY 1
+
+struct txmbstats
+{
+ struct timeval deadline;
+};
+#endif
+
+/* FlexCAN Device hardware configuration */
+
+struct flexcan_timeseg
+{
+ uint32_t bitrate;
+ int32_t samplep;
+ uint8_t propseg;
+ uint8_t pseg1;
+ uint8_t pseg2;
+ uint8_t presdiv;
+};
+
+/* The imx9_driver_s encapsulates all state information for a single
+ * hardware interface
+ */
+
+struct imx9_driver_s
+{
+ struct net_driver_s dev; /* Interface understood by the network */
+
+ const uintptr_t base; /* FLEXCAN base address */
+ const int irq; /* irq number */
+ const bool canfd_capable;
+ const uint32_t *txdesc; /* A pointer to the list of TX descriptor */
+ const uint32_t *rxdesc; /* A pointer to the list of RX descriptors */
+
+ uint32_t clk_freq; /* Peripheral clock frequency */
+ bool bifup; /* true:ifup false:ifdown */
+#ifdef TX_TIMEOUT_WQ
+ struct wdog_s txtimeout[TXMBCOUNT]; /* TX timeout timer */
+#endif
+ struct work_s rcvwork; /* For deferring interrupt work to the wq */
+ struct work_s irqwork; /* For deferring interrupt work to the wq */
+ struct work_s pollwork; /* For deferring poll work to the work wq */
+ struct flexcan_timeseg arbi_timing; /* Timing for arbitration phase */
+ struct flexcan_timeseg data_timing; /* Timing for data phase */
+
+#ifdef CONFIG_NET_CAN_RAW_TX_DEADLINE
+ struct txmbstats txmb[TXMBCOUNT];
+#endif
+};
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+#ifdef CONFIG_IMX9_FLEXCAN1
+
+static uint32_t g_tx_pool_can1[(TX_POOL_SIZE + 3) / 4];
+static uint32_t g_rx_pool_can1[(RX_POOL_SIZE + 3) / 4];
+
+static struct imx9_driver_s g_flexcan1 =
+ {
+ .base = IMX9_CAN1_BASE,
+ .irq = IMX9_IRQ_CAN1,
+# if defined(CONFIG_NET_CAN_CANFD)
+ .canfd_capable = true,
+# else
+ .canfd_capable = false,
+# endif
+
+ /* Default bitrate configuration */
+
+# if defined(CONFIG_NET_CAN_CANFD)
+ .arbi_timing =
+ {
+ .bitrate = CONFIG_IMX9_FLEXCAN1_ARBI_BITRATE,
+ .samplep = CONFIG_IMX9_FLEXCAN1_ARBI_SAMPLEP,
+ },
+ .data_timing =
+ {
+ .bitrate = CONFIG_IMX9_FLEXCAN1_DATA_BITRATE,
+ .samplep = CONFIG_IMX9_FLEXCAN1_DATA_SAMPLEP,
+ },
+# else
+ .arbi_timing =
+ {
+ .bitrate = CONFIG_IMX9_FLEXCAN1_BITRATE,
+ .samplep = CONFIG_IMX9_FLEXCAN1_SAMPLEP,
+ },
+# endif
+
+ .txdesc = g_tx_pool_can1,
+ .rxdesc = g_rx_pool_can1,
+ };
+#endif
+
+#ifdef CONFIG_IMX9_FLEXCAN2
+
+static uint32_t g_tx_pool_can2[(TX_POOL_SIZE + 3) / 4];
+static uint32_t g_rx_pool_can2[(RX_POOL_SIZE + 3) / 4];
+
+static struct imx9_driver_s g_flexcan2 =
+ {
+ .base = IMX9_CAN2_BASE,
+ .irq = IMX9_IRQ_CAN2,
+# if defined(CONFIG_NET_CAN_CANFD)
+ .canfd_capable = true,
+# else
+ .canfd_capable = false,
+# endif
+
+ /* Default bitrate configuration */
+
+# if defined(CONFIG_NET_CAN_CANFD)
+ .arbi_timing =
+ {
+ .bitrate = CONFIG_IMX9_FLEXCAN2_ARBI_BITRATE,
+ .samplep = CONFIG_IMX9_FLEXCAN2_ARBI_SAMPLEP,
+ },
+ .data_timing =
+ {
+ .bitrate = CONFIG_IMX9_FLEXCAN2_DATA_BITRATE,
+ .samplep = CONFIG_IMX9_FLEXCAN2_DATA_SAMPLEP,
+ },
+# else
+ .arbi_timing =
+ {
+ .bitrate = CONFIG_IMX9_FLEXCAN2_BITRATE,
+ .samplep = CONFIG_IMX9_FLEXCAN2_SAMPLEP,
+ },
+# endif
+
+ .txdesc = g_tx_pool_can2,
+ .rxdesc = g_rx_pool_can2,
+ };
+#endif
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: arm64_lsb
+ *
+ * Description:
+ * Calculate position of lsb that's equal to 1
+ *
+ * Input Parameters:
+ * value - The value to perform the operation on
+ *
+ * Returned Value:
+ * location of lsb which is equal to 1, returns 32 when value is 0
+ *
+ ****************************************************************************/
+
+static inline uint32_t arm64_lsb(unsigned int value)
+{
+ uint32_t ret;
+ volatile uint32_t rvalue = value;
+ __asm__ __volatile__ ("rbit %w1,%w0" : "=r" (rvalue) : "r" (rvalue));
+ __asm__ __volatile__ ("clz %w0, %w1" : "=r"(ret) : "r"(rvalue));
+ return ret;
+}
+
+/****************************************************************************
+ * Name: imx9_bitratetotimeseg
+ *
+ * Description:
+ * Convert bitrate to timeseg
+ *
+ * Input Parameters:
+ * timeseg - structure to store bit timing
+ * bit timings (recommended value: 1)
+ * can_fd_data - if set to calculate CAN FD data bit timings,
+ * otherwise calculate classical or arbitration can
+ * timings
+ *
+ * Returned Value:
+ * return OK on success, negated error number on failure
+ *
+ ****************************************************************************/
+
+static uint32_t imx9_bitratetotimeseg(struct imx9_driver_s *priv,
+ struct flexcan_timeseg *timeseg,
+ bool can_fd_data)
+{
+#if defined(CONFIG_NET_CAN_CANFD)
+ /* Max SEG1 & SEG2 values in TQ */
+
+ const int32_t TSEG1MAX = can_fd_data ? TSEG1_FD_DATAMAX : TSEG1_FD_MAX;
+ const int32_t TSEG2MAX = can_fd_data ? TSEG2_FD_DATAMAX : TSEG2_FD_MAX;
+
+ /* Min and max bit length in TQ */
+
+ const int32_t NUMTQMIN = can_fd_data ? NUMTQ_FD_DATAMIN : NUMTQ_FD_MIN;
+ const int32_t NUMTQMAX = can_fd_data ? NUMTQ_FD_DATAMAX : NUMTQ_FD_MAX;
+
+ /* Max register field values */
+
+ /* Max register field value for presdiv */
+
+ const uint32_t PRESDIVMAX = can_fd_data ?
+ CAN_FDCBT_FPRESDIV_MASK >> CAN_FDCBT_FPRESDIV_SHIFT :
+ CAN_CBT_EPRESDIV_MASK >> CAN_CBT_EPRESDIV_SHIFT;
+
+ /* Max register field values from PSEG and PROPSEG */
+
+ const int32_t PSEGMAX = can_fd_data ?
+ CAN_FDCBT_FPSEG1_MASK >> CAN_FDCBT_FPSEG1_SHIFT :
+ CAN_CBT_EPSEG1_MASK >> CAN_CBT_EPSEG1_SHIFT;
+ const int32_t PROPSEGMAX = can_fd_data ?
+ (CAN_FDCBT_FPROPSEG_MASK >> CAN_FDCBT_FPROPSEG_SHIFT) - 1 :
+ CAN_CBT_EPROPSEG_MASK >> CAN_CBT_EPROPSEG_SHIFT;
+#else
+ /* Max SEG1 & SEG2 values in TQ */
+
+ const int32_t TSEG1MAX = TSEG1_MAX;
+ const int32_t TSEG2MAX = TSEG2_MAX;
+
+ /* Min and max bit length in TQ */
+
+ const int32_t NUMTQMIN = NUMTQ_MIN;
+ const int32_t NUMTQMAX = NUMTQ_MAX;
+
+ /* Max register field values */
+
+ /* Max register field value for presdiv */
+
+ const uint32_t PRESDIVMAX =
+ CAN_CTRL1_PRESDIV_MASK >> CAN_CTRL1_PRESDIV_SHIFT;
+
+ /* Max register field values from PSEG and PROPSEG */
+
+ const int32_t PSEGMAX = CAN_CTRL1_PSEG1_MASK >> CAN_CTRL1_PSEG1_SHIFT;
+ const int32_t PROPSEGMAX =
+ CAN_CTRL1_PROPSEG_MASK >> CAN_CTRL1_PROPSEG_SHIFT;
+#endif
+
+ int32_t presdiv = PRESDIVMAX;
+ int32_t tmppresdiv;
+ int32_t numtq;
+ int32_t tmpnumtq;
+ int32_t tmpsample;
+ int32_t tseg1;
+ int32_t tseg2;
+ int32_t tmppseg1;
+ int32_t tmppseg2;
+ int32_t tmppropseg;
+ int32_t bitrate = 0;
+
+ int32_t bitrate_tmp = 0;
+ int32_t bitrate_err = INT32_MAX;
+
+ for (tmppresdiv = 0; tmppresdiv < PRESDIVMAX; tmppresdiv++)
+ {
+ tmpnumtq = (priv->clk_freq / ((tmppresdiv + 1) * timeseg->bitrate));
+
+ /* if number of time quanta per bit is too high, continue */
+
+ if (tmpnumtq > NUMTQMAX)
+ {
+ continue;
+ }
+
+ /* if number of time quanta per bit is too small, break out */
+
+ if (tmpnumtq < NUMTQMIN)
+ {
+ break;
+ }
+
+ bitrate_tmp = priv->clk_freq / ((tmppresdiv + 1) * tmpnumtq);
+ if (abs(bitrate - bitrate_tmp) < bitrate_err)
+ {
+ bitrate_err = abs(bitrate - bitrate_tmp);
+ bitrate = bitrate_tmp;
+ numtq = tmpnumtq;
+ presdiv = tmppresdiv;
+ }
+ }
+
+ if (bitrate != timeseg->bitrate)
+ {
+ canwarn("bitrate set to %" PRId32 " instead of %" PRId32 "\n",
+ bitrate, timeseg->bitrate);
+ }
+
+ /* Compute time segments based on the value of the sampling point */
+
+ tseg1 = (numtq * timeseg->samplep / 100) - 1;
+ tseg2 = numtq - 1 - tseg1;
+
+ /* Adjust time segment 1 and time segment 2 */
+
+ while (tseg1 >= TSEG1MAX || tseg2 < TSEG_MIN)
+ {
+ tseg2++;
+ tseg1--;
+ }
+
+ if (tseg1 > TSEG1MAX || tseg2 > TSEG2MAX ||
+ tseg2 < TSEG_MIN || tseg1 < TSEG_MIN)
+ {
+ canerr("tseg1 %" PRId32 ", max %" PRId32 "\n", tseg1, TSEG1MAX);
+ canerr("tseg2 %" PRId32 ", max %" PRId32 "\n", tseg2, TSEG2MAX);
+ return -EINVAL;
+ }
+
+ DEBUGASSERT(1 + tseg1 + tseg2 == numtq);
+
+ tmppseg2 = tseg2 - 1;
+
+ /* Start from pseg1 = pseg2 and adjust until propseg is valid */
+
+ tmppseg1 = tmppseg2;
+ tmppropseg = tseg1 - tmppseg1 - 2;
+
+ while (tmppropseg <= 0)
+ {
+ tmppropseg++;
+ tmppseg1--;
+ }
+
+ while (tmppropseg >= PROPSEGMAX)
+ {
+ tmppropseg--;
+ tmppseg1++;
+ }
+
+ if (tmppseg1 > PSEGMAX || tmppseg2 > PSEGMAX)
+ {
+ canerr("tmppseg1 %" PRId32 ", max %" PRId32 "\n", tmppseg1, PSEGMAX);
+ canerr("tmppseg2 %" PRId32 ", max %" PRId32 "\n", tmppseg2, PSEGMAX);
+ return -EINVAL;
+ }
+
+ tmpsample = (1 + tseg1) * 100 / numtq;
+
+ /* Allow 5% tolerance in sample point */
+
+ if (abs(tmpsample - timeseg->samplep) <= 5)
+ {
+ if (can_fd_data)
+ {
+ timeseg->propseg = tmppropseg + 1;
+ }
+ else
+ {
+ timeseg->propseg = tmppropseg;
+ }
+
+ timeseg->pseg1 = tmppseg1;
+ timeseg->pseg2 = tmppseg2;
+ timeseg->presdiv = presdiv;
+ timeseg->samplep = tmpsample;
+
+ return OK;
+ }
+
+ canerr("sample point %" PRId32 ", configured %" PRId32 "\n",
+ tmpsample, timeseg->samplep);
+
+ return -EINVAL;
+}
+
+/* Common TX logic */
+
+static bool imx9_txringfull(struct imx9_driver_s *priv);
+static int imx9_transmit(struct imx9_driver_s *priv);
+static int imx9_txpoll(struct net_driver_s *dev);
+
+/* Helper functions */
+
+static bool imx9_setenable(uint32_t base, bool enable);
+static bool imx9_setfreeze(uint32_t base, bool freeze);
+static bool imx9_waitmcr_change(uint32_t base,
+ uint32_t mask,
+ bool target_state);
+static volatile struct mb_s *flexcan_get_mb(struct imx9_driver_s *priv,
+ int mbi);
+
+/* Interrupt handling */
+
+static void imx9_rxdone_work(void *arg);
+static void imx9_receive(struct imx9_driver_s *priv);
+static void imx9_txdone_work(void *arg);
+static void imx9_txdone(struct imx9_driver_s *priv, uint32_t flags);
+
+static int imx9_flexcan_interrupt(int irq, void *context,
+ void *arg);
+
+/* Watchdog timer expirations */
+#ifdef TX_TIMEOUT_WQ
+static void imx9_txtimeout_work(void *arg);
+static void imx9_txtimeout_expiry(wdparm_t arg);
+#endif
+
+/* NuttX callback functions */
+
+static int imx9_ifup(struct net_driver_s *dev);
+static int imx9_ifdown(struct net_driver_s *dev);
+
+static void imx9_txavail_work(void *arg);
+static int imx9_txavail(struct net_driver_s *dev);
+
+#ifdef CONFIG_NETDEV_IOCTL
+static int imx9_ioctl(struct net_driver_s *dev, int cmd,
+ unsigned long arg);
+#endif
+
+/* Initialization */
+
+static int imx9_initialize(struct imx9_driver_s *priv);
+static void imx9_reset(struct imx9_driver_s *priv);
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Function: imx9_txringfull
+ *
+ * Description:
+ * Check if all of the TX descriptors are in use.
+ *
+ * Input Parameters:
+ * priv - Reference to the driver state structure
+ *
+ * Returned Value:
+ * true is the TX ring is full; false if there are free slots at the
+ * head index.
+ *
+ ****************************************************************************/
+
+static bool imx9_txringfull(struct imx9_driver_s *priv)
+{
+ int mbi;
+
+ for (mbi = RXMBCOUNT; mbi < TOTALMBCOUNT; mbi++)
+ {
+ volatile struct mb_s *mb = flexcan_get_mb(priv, mbi);
+ if (CAN_MB_CS_CODE(mb->cs) != CAN_TXMB_DATAORREMOTE)
+ {
+ return false;
+ }
+ }
+
+ return true;
+}
+
+/****************************************************************************
+ * Function: imx9_transmit
+ *
+ * Description:
+ * Start hardware transmission. Called either from the txdone interrupt
+ * handling or from watchdog based polling.
+ *
+ * Input Parameters:
+ * priv - Reference to the driver state structure
+ *
+ * Returned Value:
+ * OK on success; a negated errno on failure
+ *
+ * Assumptions:
+ * May or may not be called from an interrupt handler. In either case,
+ * global interrupts are disabled, either explicitly or indirectly through
+ * interrupt handling logic.
+ *
+ ****************************************************************************/
+
+static int imx9_transmit(struct imx9_driver_s *priv)
+{
+ volatile struct mb_s *mb;
+ uint32_t mbi = 0;
+ uint32_t *frame_data_word;
+ uint32_t i;
+#ifdef CONFIG_NET_CAN_RAW_TX_DEADLINE
+ int32_t timeout;
+ uint32_t txmb = 0;
+#endif
+ uint32_t cs = 0;
+ canid_t can_id;
+ uint32_t can_dlc;
+ uint8_t len;
+
+ for (mbi = RXMBCOUNT; mbi < TOTALMBCOUNT; mbi++)
+ {
+ /* Check whether message buffer is not currently transmitting */
+
+ mb = flexcan_get_mb(priv, mbi);
+ if (CAN_MB_CS_CODE(mb->cs) != CAN_TXMB_DATAORREMOTE)
+ {
+ break;
+ }
+
+#ifdef CONFIG_NET_CAN_RAW_TX_DEADLINE
+ txmb++;
+#endif
+ }
+
+ if (mbi >= TOTALMBCOUNT)
+ {
+ nwarn("No TX MB available mbi %" PRIi32 "\n", mbi);
+ NETDEV_TXERRORS(&priv->dev);
+ return ERROR;
+ }
+
+#ifdef CONFIG_NET_CAN_RAW_TX_DEADLINE
+ struct timespec ts;
+ clock_systime_timespec(&ts);
+
+ if (priv->dev.d_sndlen > priv->dev.d_len)
+ {
+ struct timeval *tv =
+ (struct timeval *)(priv->dev.d_buf + priv->dev.d_len);
+
+ priv->txmb[txmb].deadline = *tv;
+ timeout = (tv->tv_sec - ts.tv_sec)*CLK_TCK
+ + ((tv->tv_usec - ts.tv_nsec / 1000)*CLK_TCK) / 1000000;
+ if (timeout < 0)
+ {
+ return ERROR;
+ }
+ }
+ else
+ {
+ /* Default TX deadline defined in NET_CAN_RAW_DEFAULT_TX_DEADLINE */
+
+ if (CONFIG_NET_CAN_RAW_DEFAULT_TX_DEADLINE > 0)
+ {
+ timeout = ((CONFIG_NET_CAN_RAW_DEFAULT_TX_DEADLINE / 1000000)
+ *CLK_TCK);
+ priv->txmb[txmb].deadline.tv_sec = ts.tv_sec +
+ CONFIG_NET_CAN_RAW_DEFAULT_TX_DEADLINE / 1000000;
+ priv->txmb[txmb].deadline.tv_usec = (ts.tv_nsec / 1000) +
+ CONFIG_NET_CAN_RAW_DEFAULT_TX_DEADLINE % 1000000;
+ }
+ else
+ {
+ priv->txmb[txmb].deadline.tv_sec = 0;
+ priv->txmb[txmb].deadline.tv_usec = 0;
+ timeout = -1;
+ }
+ }
+#endif
+
+ if (priv->dev.d_len == sizeof(struct can_frame))
+ {
+ struct can_frame *frame = (struct can_frame *)priv->dev.d_buf;
+ can_id = frame->can_id;
+ len = 8;
+ can_dlc = frame->can_dlc;
+ frame_data_word = (uint32_t *)&frame->data[0];
+ }
+#ifdef CONFIG_NET_CAN_CANFD
+ else
+ {
+ struct canfd_frame *frame = (struct canfd_frame *)priv->dev.d_buf;
+ cs |= CAN_MB_CS_EDL;
+ cs |= frame->flags & CANFD_BRS ? CAN_MB_CS_BRS : 0;
+ can_id = frame->can_id;
+ len = frame->len;
+ can_dlc = g_len_to_can_dlc[len];
+ frame_data_word = (uint32_t *)&frame->data[0];
+ }
+#endif
+
+ if (can_id & CAN_EFF_FLAG)
+ {
+ cs |= CAN_MB_CS_IDE;
+ mb->id = can_id & CAN_MB_ID_ID_MASK;
+ }
+ else
+ {
+ mb->id = ((can_id & CAN_SFF_MASK) << CAN_MB_ID_ID_STD_SHIFT) &
+ CAN_MB_ID_ID_STD_MASK;
+ }
+
+ cs |= (can_id & CAN_RTR_FLAG) ? CAN_MB_CS_RTR : 0;
+ cs |= (can_dlc << CAN_MB_CS_DLC_SHIFT) & CAN_MB_CS_DLC_MASK;
+
+ for (i = 0; i < (len + 4 - 1) / 4; i++)
+ {
+ mb->data[i] = __builtin_bswap32(frame_data_word[i]);
+ }
+
+ /* Go */
+
+ cs |= CAN_TXMB_DATAORREMOTE << CAN_MB_CS_CODE_SHIFT;
+ mb->cs = cs;
+
+ /* Increment statistics */
+
+ NETDEV_TXPACKETS(&priv->dev);
+
+#ifdef TX_TIMEOUT_WQ
+ /* Setup the TX timeout watchdog (perhaps restarting the timer) */
+
+ if (timeout > 0)
+ {
+ wd_start(&priv->txtimeout[txmb], timeout + 1,
+ imx9_txtimeout_expiry, (wdparm_t)priv);
+ }
+#endif
+
+ return OK;
+}
+
+/****************************************************************************
+ * Function: imx9_txpoll
+ *
+ * Description:
+ * The transmitter is available, check if the network has any outgoing
+ * packets ready to send. This is a callback from devif_poll().
+ * devif_poll() may be called:
+ *
+ * 1. When the preceding TX packet send is complete,
+ * 2. When the preceding TX packet send timesout and the interface is reset
+ * 3. During normal TX polling
+ *
+ * Input Parameters:
+ * dev - Reference to the NuttX driver state structure
+ *
+ * Returned Value:
+ * OK on success; a negated errno on failure
+ *
+ * Assumptions:
+ * May or may not be called from an interrupt handler. In either case,
+ * global interrupts are disabled, either explicitly or indirectly through
+ * interrupt handling logic.
+ *
+ ****************************************************************************/
+
+static int imx9_txpoll(struct net_driver_s *dev)
+{
+ struct imx9_driver_s *priv = (struct imx9_driver_s *)dev;
+
+ /* If the polling resulted in data that should be sent out on the network,
+ * the field d_len is set to a value > 0.
+ */
+
+ if (dev->d_len > 0)
+ {
+ /* Send the packet */
+
+ if (imx9_transmit(priv) != OK)
+ {
+ return -EINVAL;
+ }
+
+ /* Check if there is room in the device to hold another packet. If
+ * not, return a non-zero value to terminate the poll.
+ */
+
+ if (imx9_txringfull(priv))
+ {
+ return -EBUSY;
+ }
+ }
+
+ /* If zero is returned, the polling will continue until all connections
+ * have been examined.
+ */
+
+ return 0;
+}
+
+/****************************************************************************
+ * Function: imx9_get_oldest_mbi
+ *
+ * Description:
+ * Find the oldest MB in the message buffers, based on timestamp
+ *
+ * Input Parameters:
+ * priv - Reference to the driver state structure
+ * flags - Bitmask of MBs which should be checked
+ *
+ * Returned Value:
+ * index of the MB with oldest received data
+ *
+ * Assumptions:
+ * Always called with at least one RX buffer to be checked
+ *
+ ****************************************************************************/
+
+static int imx9_get_oldest_mbi(struct imx9_driver_s *priv, uint32_t flags)
+{
+ int mbi;
+ int oldest = -1;
+ bool first = true;
+ uint16_t t;
+ uint16_t t_oldest;
+ volatile struct mb_s *mb;
+
+ /* When this is called, there is always at least one received buffer */
+
+ DEBUGASSERT((flags & IFLAG1_RX) != 0);
+
+ for (mbi = 0; mbi < RXMBCOUNT; mbi++)
+ {
+ if (flags & (1 << mbi))
+ {
+ mb = flexcan_get_mb(priv, mbi);
+ t = CAN_MB_CS_TIMESTAMP(mb->cs);
+
+ if ((int16_t)(t_oldest - t) > 0 || first)
+ {
+ first = false;
+ t_oldest = t;
+ oldest = mbi;
+ }
+ }
+ }
+
+ return oldest;
+}
+
+/****************************************************************************
+ * Function: imx9_receive
+ *
+ * Description:
+ * An interrupt was received indicating the availability of a new RX packet
+ *
+ * Input Parameters:
+ * priv - Reference to the driver state structure
+ *
+ * Returned Value:
+ * None
+ *
+ * Assumptions:
+ * Global interrupts are disabled by interrupt handling logic.
+ *
+ ****************************************************************************/
+
+static void imx9_receive(struct imx9_driver_s *priv)
+{
+ int mbi;
+ volatile struct mb_s *rf;
+#ifdef CONFIG_NET_CAN_CANFD
+ uint32_t *frame_data_word;
+ uint32_t i;
+#endif
+ size_t frame_len;
+
+ uint32_t flags = getreg32(priv->base + IMX9_CAN_IFLAG1_OFFSET);
+ flags &= IFLAG1_RX;
+
+ while (flags != 0)
+ {
+ mbi = imx9_get_oldest_mbi(priv, flags);
+
+ /* Make sure the MB is locked */
+
+ do
+ {
+ rf = flexcan_get_mb(priv, mbi);
+ }
+ while ((CAN_MB_CS_CODE(rf->cs) & CAN_RXMB_BUSY_BIT) != 0);
+
+ DEBUGASSERT(CAN_MB_CS_CODE(rf->cs) != CAN_RXMB_EMPTY);
+
+ if (CAN_MB_CS_CODE(rf->cs) == CAN_RXMB_OVERRUN)
+ {
+ canwarn("RX overrun\n");
+ NETDEV_RXERRORS(dev);
+ }
+
+ /* Read the frame contents */
+
+#ifdef CONFIG_NET_CAN_CANFD
+ if (rf->cs & CAN_MB_CS_EDL)
+ {
+ /* CAN FD frame */
+
+ struct canfd_frame *frame = (struct canfd_frame *)priv->rxdesc;
+
+ if (rf->cs & CAN_MB_CS_IDE)
+ {
+ frame->can_id = ((rf->id & CAN_MB_ID_ID_MASK) >>
+ CAN_MB_ID_ID_SHIFT);
+ frame->can_id |= CAN_EFF_FLAG;
+ }
+ else
+ {
+ frame->can_id = ((rf->id & CAN_MB_ID_ID_STD_MASK) >>
+ CAN_MB_ID_ID_STD_SHIFT);
+ }
+
+ if (rf->cs & CAN_MB_CS_RTR)
+ {
+ frame->can_id |= CAN_RTR_FLAG;
+ }
+
+ /* Set bitrate switch by default if frame is CANFD */
+
+ frame->flags = CANFD_BRS;
+ if (rf->cs & CAN_MB_CS_ESI)
+ {
+ frame->flags |= CANFD_ESI;
+ }
+
+ frame->len = g_can_dlc_to_len[CAN_MB_CS_DLC(rf->cs)];
+
+ frame_data_word = (uint32_t *)&frame->data[0];
+
+ for (i = 0; i < (frame->len + 4 - 1) / 4; i++)
+ {
+ frame_data_word[i] = __builtin_bswap32(rf->data[i]);
+ }
+
+ frame_len = sizeof(struct canfd_frame);
+ }
+ else
+#endif
+ {
+ /* CAN 2.0 Frame */
+
+ struct can_frame *frame = (struct can_frame *)priv->rxdesc;
+
+ if (rf->cs & CAN_MB_CS_IDE)
+ {
+ frame->can_id = ((rf->id & CAN_MB_ID_ID_MASK) >>
+ CAN_MB_ID_ID_SHIFT);
+ frame->can_id |= CAN_EFF_FLAG;
+ }
+ else
+ {
+ frame->can_id = ((rf->id & CAN_MB_ID_ID_STD_MASK) >>
+ CAN_MB_ID_ID_STD_SHIFT);
+ }
+
+ if (rf->cs & CAN_MB_CS_RTR)
+ {
+ frame->can_id |= CAN_RTR_FLAG;
+ }
+
+ frame->can_dlc = CAN_MB_CS_DLC(rf->cs);
+
+ *(uint32_t *)&frame->data[0] = __builtin_bswap32(rf->data[0]);
+ *(uint32_t *)&frame->data[4] = __builtin_bswap32(rf->data[1]);
+
+ frame_len = sizeof(struct can_frame);
+ }
+
+ net_lock();
+
+ /* Copy the buffer pointer to priv->dev.. Set amount of data
+ * in priv->dev.d_len
+ */
+
+ priv->dev.d_buf = (uint8_t *)priv->rxdesc;
+ priv->dev.d_len = frame_len;
+
+ /* Send to socket interface */
+
+ can_input(&priv->dev);
+
+ net_unlock();
+
+ /* Clear MB interrupt flag */
+
+ putreg32(1 << mbi, priv->base + IMX9_CAN_IFLAG1_OFFSET);
+
+ /* Re-activate the buffer */
+
+ rf->cs = (CAN_RXMB_EMPTY << CAN_MB_CS_CODE_SHIFT) | CAN_MB_CS_IDE;
+
+ /* Re-enable interrupt */
+
+ modifyreg32(priv->base + IMX9_CAN_IMASK1_OFFSET, 0, 1 << mbi);
+
+ flags &= ~(1 << mbi);
+ }
+}
+
+/****************************************************************************
+ * Function: imx9_txdone
+ *
+ * Description:
+ * Check transmit interrupt flags and clear them
+ *
+ * Input Parameters:
+ * priv - Reference to the driver state structure
+ *
+ * Returned Value:
+ * None.
+ *
+ ****************************************************************************/
+
+static void imx9_txdone(struct imx9_driver_s *priv, uint32_t flags)
+{
+ volatile struct mb_s *mb;
+ uint32_t mbi;
+ uint32_t mb_bit;
+#ifdef TX_TIMEOUT_WQ
+ uint32_t txmb;
+#endif
+ int code;
+
+ /* Process TX completions */
+
+#ifdef TX_TIMEOUT_WQ
+ txmb = 0;
+#endif
+
+ for (mbi = RXMBCOUNT; mbi < TOTALMBCOUNT; mbi++)
+ {
+ mb_bit = 1 << mbi;
+ if (flags & mb_bit)
+ {
+ mb = flexcan_get_mb(priv, mbi);
+ code = CAN_MB_CS_CODE(mb->cs);
+
+ /* Clear interrupt */
+
+ putreg32(mb_bit, priv->base + IMX9_CAN_IFLAG1_OFFSET);
+
+ /* After RTR transmission, the MB transitions into RX MB.
+ * Check for RX empty w. busy bit or RX full - this should
+ * not happen.
+ */
+
+ if (((code & ~CAN_RXMB_BUSY_BIT) == CAN_RXMB_EMPTY &&
+ (code & CAN_RXMB_BUSY_BIT) != 0) ||
+ code == CAN_RXMB_FULL)
+ {
+ /* Received something in this buffer?
+ * This should only happen if we sent RTR and then did
+ * run out of RX MBs (which are at lower indecies).
+ * Or perhaps this shouldn't happen at all when AEN=1. This
+ * is unclear in the RM.
+ */
+
+ NETDEV_RXDROPPED(priv->dev);
+ canerr("RCV in TX MB, code %x\n", code);
+ }
+
+ /* Only possible TX codes after transmission are ABORT or
+ * INACTIVE. If it transitioned to RX MB after RTR sent,
+ * inactivate it.
+ */
+
+ if (code != CAN_TXMB_ABORT && code != CAN_TXMB_INACTIVE)
+ {
+ mb->cs = CAN_TXMB_INACTIVE << CAN_MB_CS_CODE_SHIFT;
+ }
+
+ if (code == CAN_TXMB_ABORT)
+ {
+ NETDEV_TXERRORS(dev);
+ }
+ else
+ {
+ NETDEV_TXDONE(dev);
+ }
+
+#ifdef TX_TIMEOUT_WQ
+ /* We are here because a transmission completed, so the
+ * corresponding watchdog can be canceled
+ */
+
+ wd_cancel(&priv->txtimeout[txmb]);
+#endif
+ }
+
+#ifdef TX_TIMEOUT_WQ
+ txmb++;
+#endif
+ }
+
+ /* Schedule worker to poll for more data */
+
+ work_queue(CANWORK, &priv->irqwork, imx9_txdone_work, priv, 0);
+}
+
+/****************************************************************************
+ * Function: imx9_txdone_work
+ *
+ * Description:
+ * An interrupt was received indicating that the last TX packet(s) is done
+ *
+ * Input Parameters:
+ * priv - Reference to the driver state structure
+ *
+ * Returned Value:
+ * None
+ *
+ * Assumptions:
+ * Global interrupts are disabled by the watchdog logic.
+ * We are not in an interrupt context so that we can lock the network.
+ *
+ ****************************************************************************/
+
+static void imx9_txdone_work(void *arg)
+{
+ struct imx9_driver_s *priv = (struct imx9_driver_s *)arg;
+
+ /* There should be space for a new TX in any event. Poll the network for
+ * new XMIT data
+ */
+
+ net_lock();
+ devif_poll(&priv->dev, imx9_txpoll);
+ net_unlock();
+}
+
+/****************************************************************************
+ * Function: imx9_rxdone_work
+ *
+ * Description:
+ * Three interrupt sources will vector this this function:
+ * 1. CAN MB transmit interrupt handler
+ * 2. CAN MB receive interrupt handler
+ * 3.
+ *
+ * Input Parameters:
+ * irq - Number of the IRQ that generated the interrupt
+ * context - Interrupt register state save info (architecture-specific)
+ *
+ * Returned Value:
+ * OK on success
+ *
+ * Assumptions:
+ *
+ ****************************************************************************/
+
+static void imx9_rxdone_work(void *arg)
+{
+ struct imx9_driver_s *priv = (struct imx9_driver_s *)arg;
+
+ imx9_receive(priv);
+}
+
+/****************************************************************************
+ * Function: imx9_flexcan_interrupt
+ *
+ * Description:
+ * Three interrupt sources will vector this this function:
+ * 1. CAN MB transmit interrupt handler
+ * 2. CAN MB receive interrupt handler
+ * 3.
+ *
+ * Input Parameters:
+ * irq - Number of the IRQ that generated the interrupt
+ * context - Interrupt register state save info (architecture-specific)
+ *
+ * Returned Value:
+ * OK on success
+ *
+ * Assumptions:
+ *
+ ****************************************************************************/
+
+static int imx9_flexcan_interrupt(int irq, void *context,
+ void *arg)
+{
+ struct imx9_driver_s *priv = (struct imx9_driver_s *)arg;
+ uint32_t esr1;
+
+ if (irq == priv->irq)
+ {
+ uint32_t flags = getreg32(priv->base + IMX9_CAN_IFLAG1_OFFSET);
+
+ if (flags & IFLAG1_RX)
+ {
+ work_queue(CANRCVWORK, &priv->rcvwork, imx9_rxdone_work, priv, 0);
+
+ /* Mask RX interrupts until handled in the work queue */
+
+ modifyreg32(priv->base + IMX9_CAN_IMASK1_OFFSET,
+ flags & IFLAG1_RX, 0);
+ }
+
+ if (flags & IFLAG1_TX)
+ {
+ imx9_txdone(priv, flags);
+ }
+ }
+ else
+ {
+ /* Error interrupt */
+
+ esr1 = getreg32(priv->base + IMX9_CAN_ESR1_OFFSET);
+ canerr("ESR1 %x\n", esr1);
+ canerr("ERRSR: %x\n", getreg32(priv->base + IMX9_CAN_ERRSR_OFFSET));
+ canerr("RERRAR: %x\n", getreg32(priv->base + IMX9_CAN_RERRAR_OFFSET));
+
+ /* Clear the interrupt */
+
+ putreg32(esr1 & (CAN_ESR1_PTA | CAN_ESR1_ATP | CAN_ESR1_ERROVR |
+ CAN_ESR1_ERRINTFAST | CAN_ESR1_BOFFDONEINT |
+ CAN_ESR1_TWRNINT | CAN_ESR1_RWRNINT |
+ CAN_ESR1_BOFFINT | CAN_ESR1_ERRINT | CAN_ESR1_WAKINT),
+ priv->base + IMX9_CAN_ESR1_OFFSET);
+ }
+
+ return OK;
+}
+
+/****************************************************************************
+ * Function: imx9_txtimeout_work
+ *
+ * Description:
+ * Perform TX timeout related work from the worker thread
+ *
+ * Input Parameters:
+ * arg - The argument passed when work_queue() as called.
+ *
+ * Returned Value:
+ * OK on success
+ *
+ * Assumptions:
+ *
+ ****************************************************************************/
+#ifdef TX_TIMEOUT_WQ
+
+static void imx9_txtimeout_work(void *arg)
+{
+ struct imx9_driver_s *priv = (struct imx9_driver_s *)arg;
+ int mbi;
+ int txmbi = 0;
+ uint32_t mb_bit;
+ volatile struct mb_s *mb;
+ struct timespec ts;
+ struct timeval *now = (struct timeval *)&ts;
+ clock_systime_timespec(&ts);
+ now->tv_usec = ts.tv_nsec / 1000; /* timespec to timeval conversion */
+
+ /* The watchdog timed out, yet we still check mailboxes in case the
+ * transmit function transmitted a new frame
+ */
+
+ for (mbi = RXMBCOUNT; mbi < TOTALMBCOUNT; mbi++)
+ {
+ mb_bit = 1 << mbi;
+
+ /* Disable interrupt for this MB */
+
+ modifyreg32(priv->base + IMX9_CAN_IMASK1_OFFSET, mb_bit, 0);
+ ARM64_DSB();
+
+ if (priv->txmb[txmbi].deadline.tv_sec != 0
+ && (now->tv_sec > priv->txmb[txmbi].deadline.tv_sec
+ || now->tv_usec > priv->txmb[txmbi].deadline.tv_usec))
+ {
+ /* This MB was timed out */
+
+ NETDEV_TXTIMEOUTS(&priv->dev);
+
+ mb = flexcan_get_mb(priv, mbi);
+ mb->cs = CAN_TXMB_ABORT << CAN_MB_CS_CODE_SHIFT;
+ }
+
+ /* Re-enable interrupt for this MB */
+
+ modifyreg32(priv->base + IMX9_CAN_IMASK1_OFFSET, 0, mb_bit);
+ txmbi++;
+ }
+}
+
+/****************************************************************************
+ * Function: imx9_txtimeout_expiry
+ *
+ * Description:
+ * Our TX watchdog timed out. Called from the timer interrupt handler.
+ * The last TX never completed. Reset the hardware and start again.
+ *
+ * Input Parameters:
+ * arg - The argument
+ *
+ * Returned Value:
+ * None
+ *
+ * Assumptions:
+ * Global interrupts are disabled by the watchdog logic.
+ *
+ ****************************************************************************/
+
+static void imx9_txtimeout_expiry(wdparm_t arg)
+{
+ struct imx9_driver_s *priv = (struct imx9_driver_s *)arg;
+
+ /* Schedule to perform the TX timeout processing on the worker thread */
+
+ work_queue(CANWORK, &priv->irqwork, imx9_txtimeout_work, priv, 0);
+}
+
+#endif
+
+static bool imx9_setenable(uint32_t base, bool enable)
+{
+ if (enable)
+ {
+ modifyreg32(base + IMX9_CAN_MCR_OFFSET, CAN_MCR_MDIS, 0);
+ }
+ else
+ {
+ modifyreg32(base + IMX9_CAN_MCR_OFFSET, 0, CAN_MCR_MDIS);
+ }
+
+ return imx9_waitmcr_change(base, CAN_MCR_LPMACK, !enable);
+}
+
+static bool imx9_setfreeze(uint32_t base, bool freeze)
+{
+ if (freeze)
+ {
+ modifyreg32(base + IMX9_CAN_MCR_OFFSET, 0, CAN_MCR_HALT | CAN_MCR_FRZ);
+ }
+ else
+ {
+ modifyreg32(base + IMX9_CAN_MCR_OFFSET, CAN_MCR_HALT | CAN_MCR_FRZ, 0);
+ }
+
+ return imx9_waitmcr_change(base, CAN_MCR_FRZACK, freeze);
+}
+
+static bool imx9_waitmcr_change(uint32_t base, uint32_t mask,
+ bool target_state)
+{
+ const uint32_t timeout = 1000;
+ uint32_t wait_ack;
+ bool state;
+
+ for (wait_ack = 0; wait_ack < timeout; wait_ack++)
+ {
+ state = (getreg32(base + IMX9_CAN_MCR_OFFSET) & mask) != 0;
+ if (state == target_state)
+ {
+ return true;
+ }
+
+ up_udelay(10);
+ }
+
+ return false;
+}
+
+/****************************************************************************
+ * Function: flexcan_get_mb
+ *
+ * Description:
+ * Get message buffer start address by buffer index. Message buffers
+ * are allocated in 512-byte ramblocks.
+ *
+ * Input Parameters:
+ * priv - Reference to the private FLEXCAN driver state structure
+ * mbi - Message buffer index
+ *
+ * Returned Value:
+ * None
+ *
+ * Assumptions:
+ *
+ ****************************************************************************/
+
+static volatile struct mb_s *flexcan_get_mb(struct imx9_driver_s *priv,
+ int mbi)
+{
+ uintptr_t mb_offset;
+ size_t data_bytes = priv->canfd_capable ? 64 : 8;
+ size_t mb_bytes = sizeof(struct mb_s) + data_bytes;
+ int mbs_per_block = 512 / mb_bytes; /* n of buffers in one ramblock */
+ int ramblock = mbi / mbs_per_block; /* ramblock in which the mb resides */
+ int mb_off = mbi - ramblock * mbs_per_block; /* idx of the mb within ramblock */
+
+ mb_offset = IMX9_CAN_MB_OFFSET + (ramblock * 512) + mb_off * mb_bytes;
+
+ DEBUGASSERT(mb_offset < IMX9_CAN_MB_END);
+
+ return (volatile struct mb_s *)(priv->base + mb_offset);
+}
+
+/****************************************************************************
+ * Function: imx9_ifup
+ *
+ * Description:
+ * NuttX Callback: Bring up the Ethernet interface when an IP address is
+ * provided
+ *
+ * Input Parameters:
+ * dev - Reference to the NuttX driver state structure
+ *
+ * Returned Value:
+ * OK or ERROR
+ *
+ * Assumptions:
+ *
+ ****************************************************************************/
+
+static int imx9_ifup(struct net_driver_s *dev)
+{
+ struct imx9_driver_s *priv = (struct imx9_driver_s *)dev;
+
+ if (imx9_initialize(priv) != OK)
+ {
+ canerr("initialize failed");
+ return ERROR;
+ }
+
+ priv->bifup = true;
+ priv->dev.d_buf = (uint8_t *)priv->txdesc;
+
+ /* Set interrupts */
+
+ up_enable_irq(priv->irq);
+ up_enable_irq(priv->irq + 1);
+
+ return OK;
+}
+
+/****************************************************************************
+ * Function: imx9_ifdown
+ *
+ * Description:
+ * NuttX Callback: Stop the interface.
+ *
+ * Input Parameters:
+ * dev - Reference to the NuttX driver state structure
+ *
+ * Returned Value:
+ * None
+ *
+ * Assumptions:
+ *
+ ****************************************************************************/
+
+static int imx9_ifdown(struct net_driver_s *dev)
+{
+ struct imx9_driver_s *priv = (struct imx9_driver_s *)dev;
+
+ /* Disable interrupts */
+
+ up_disable_irq(priv->irq);
+ up_disable_irq(priv->irq + 1);
+
+ imx9_reset(priv);
+
+ priv->bifup = false;
+ return OK;
+}
+
+/****************************************************************************
+ * Function: imx9_txavail_work
+ *
+ * Description:
+ * Perform an out-of-cycle poll on the worker thread.
+ *
+ * Input Parameters:
+ * arg - Reference to the NuttX driver state structure (cast to void*)
+ *
+ * Returned Value:
+ * None
+ *
+ * Assumptions:
+ * Called on the higher priority worker thread.
+ *
+ ****************************************************************************/
+
+static void imx9_txavail_work(void *arg)
+{
+ struct imx9_driver_s *priv = (struct imx9_driver_s *)arg;
+
+ /* Ignore the notification if the interface is not yet up */
+
+ net_lock();
+ if (priv->bifup)
+ {
+ /* Check if there is room in the hardware to hold another outgoing
+ * packet.
+ */
+
+ if (!imx9_txringfull(priv))
+ {
+ /* No, there is space for another transfer. Poll the network for
+ * new XMIT data.
+ */
+
+ devif_poll(&priv->dev, imx9_txpoll);
+ }
+ }
+
+ net_unlock();
+}
+
+/****************************************************************************
+ * Function: imx9_txavail
+ *
+ * Description:
+ * Driver callback invoked when new TX data is available. This is a
+ * stimulus perform an out-of-cycle poll and, thereby, reduce the TX
+ * latency.
+ *
+ * Input Parameters:
+ * dev - Reference to the NuttX driver state structure
+ *
+ * Returned Value:
+ * None
+ *
+ * Assumptions:
+ * Called in normal user mode
+ *
+ ****************************************************************************/
+
+static int imx9_txavail(struct net_driver_s *dev)
+{
+ struct imx9_driver_s *priv = (struct imx9_driver_s *)dev;
+
+ /* Is our single work structure available? It may not be if there are
+ * pending interrupt actions and we will have to ignore the Tx
+ * availability action.
+ */
+
+ if (work_available(&priv->pollwork))
+ {
+ /* Schedule to serialize the poll on the worker thread. */
+
+ imx9_txavail_work(priv);
+ }
+
+ return OK;
+}
+
+/****************************************************************************
+ * Function: imx9_ioctl
+ *
+ * Description:
+ * PHY ioctl command handler
+ *
+ * Input Parameters:
+ * dev - Reference to the NuttX driver state structure
+ * cmd - ioctl command
+ * arg - Argument accompanying the command
+ *
+ * Returned Value:
+ * Zero (OK) on success; a negated errno value on failure.
+ *
+ * Assumptions:
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_NETDEV_IOCTL
+static int imx9_ioctl(struct net_driver_s *dev, int cmd,
+ unsigned long arg)
+{
+ int ret;
+
+ switch (cmd)
+ {
+#ifdef CONFIG_NETDEV_CAN_BITRATE_IOCTL
+ case SIOCGCANBITRATE: /* Get bitrate from a CAN controller */
+ {
+ struct imx9_driver_s *priv = (struct imx9_driver_s *)dev;
+ struct can_ioctl_data_s *req =
+ (struct can_ioctl_data_s *)((uintptr_t)arg);
+ req->arbi_bitrate = priv->arbi_timing.bitrate / 1000; /* kbit/s */
+ req->arbi_samplep = priv->arbi_timing.samplep;
+ if (priv->canfd_capable)
+ {
+ req->data_bitrate = priv->data_timing.bitrate / 1000; /* kbit/s */
+ req->data_samplep = priv->data_timing.samplep;
+ }
+ else
+ {
+ req->data_bitrate = 0;
+ req->data_samplep = 0;
+ }
+
+ ret = OK;
+ }
+ break;
+
+ case SIOCSCANBITRATE: /* Set bitrate of a CAN controller */
+ {
+ struct imx9_driver_s *priv = (struct imx9_driver_s *)dev;
+ struct can_ioctl_data_s *req =
+ (struct can_ioctl_data_s *)((uintptr_t)arg);
+ struct flexcan_timeseg arbi_timing;
+ struct flexcan_timeseg data_timing;
+
+ arbi_timing.bitrate = req->arbi_bitrate * 1000;
+ arbi_timing.samplep = req->arbi_samplep;
+ ret = imx9_bitratetotimeseg(priv, &arbi_timing, false);
+ if (ret == OK && priv->canfd_capable)
+ {
+ data_timing.bitrate = req->data_bitrate * 1000;
+ data_timing.samplep = req->data_samplep;
+ ret = imx9_bitratetotimeseg(priv, &data_timing, true);
+ }
+
+ if (ret == OK)
+ {
+ /* Reset CAN controller and start with new timings */
+
+ priv->arbi_timing = arbi_timing;
+ if (priv->canfd_capable)
+ {
+ priv->data_timing = data_timing;
+ }
+
+ imx9_ifup(dev);
+ }
+ }
+ break;
+#endif
+ default:
+ ret = -ENOTTY;
+ break;
+ }
+
+ return ret;
+}
+#endif /* CONFIG_NETDEV_IOCTL */
+
+/****************************************************************************
+ * Function: imx9_init_eccram
+ *
+ * Description:
+ * Initialize FLEXCAN ECC RAM
+ *
+ * Input Parameters:
+ * priv - Reference to the private FLEXCAN driver state structure
+ *
+ * Returned Value:
+ * None
+ *
+ * Assumptions:
+ *
+ ****************************************************************************/
+
+static int imx9_init_eccram(struct imx9_driver_s *priv)
+{
+ volatile uint32_t *data = (uint32_t *)(priv->base + IMX9_CAN_MB_OFFSET);
+ volatile uint32_t *data_end = (uint32_t *)(priv->base + IMX9_CAN_MB_END);
+ int i;
+
+ /* Set WRMFRZ bit in CTRL2 Register to grant write access to memory */
+
+ modifyreg32(priv->base + IMX9_CAN_CTRL2_OFFSET, 0, CAN_CTRL2_WRMFRZ);
+
+ /* Fill in the whole MB area as inactive RX buffers */
+
+ while (data < data_end)
+ {
+ *data++ = 0;
+ }
+
+ /* Clear Mask registers - allow all for RX MBs */
+
+ for (i = 0; i < RXMBCOUNT; i++)
+ {
+ putreg32(0, priv->base + IMX9_CAN_RXIMR_OFFSET(i));
+ }
+
+ /* Set Mask registers to compare all for TX MBs;
+ * sending an RTR will result TX MB to become RX EMPTY.
+ * We don't want to match anything in this case
+ */
+
+ for (; i < IMX9_CAN_N_RXIMR; i++)
+ {
+ putreg32(0xffffffff, priv->base + IMX9_CAN_RXIMR_OFFSET(i));
+ }
+
+ /* Clear legacy fifo information registers */
+
+ for (i = 0; i < IMX9_CAN_N_RXFMB; i++)
+ {
+ putreg32(0, priv->base + IMX9_CAN_RXFMB_OFFSET(i));
+ }
+
+ /* Configure RX*MASKs at 0xaa0-> */
+
+ putreg32(0x3fffffff, priv->base + IMX9_CAN_RX14MASK_OFFSET);
+ putreg32(0x3fffffff, priv->base + IMX9_CAN_RX15MASK_OFFSET);
+ putreg32(0x3fffffff, priv->base + IMX9_CAN_RXMGMASK_OFFSET);
+ putreg32(0x0, priv->base + IMX9_CAN_RXFGMASK_OFFSET);
+
+ /* Clear Tx_SMB, Rx_SMB0 and Rx_SMB1 */
+
+ if (!priv->canfd_capable)
+ {
+ data = (uint32_t *)(priv->base + IMX9_CAN_TXSMB_OFFSET);
+ data_end = &data[3 * (sizeof(struct mb_s) + 8) / 4];
+ }
+ else
+ {
+ data = (uint32_t *)(priv->base + IMX9_CAN_TXSMBFD_OFFSET);
+ data_end = &data[3 * (sizeof(struct mb_s) + 64) / 4];
+ }
+
+ while (data < data_end)
+ {
+ *data++ = 0;
+ }
+
+ /* Clear WRMFRZ bit in CTRL2 Register */
+
+ modifyreg32(priv->base + IMX9_CAN_CTRL2_OFFSET, CAN_CTRL2_WRMFRZ, 0);
+
+ return 0;
+}
+
+/****************************************************************************
+ * Function: imx9_initalize
+ *
+ * Description:
+ * Initialize FLEXCAN device
+ *
+ * Input Parameters:
+ * priv - Reference to the private FLEXCAN driver state structure
+ *
+ * Returned Value:
+ * OK or ERROR
+ *
+ * Assumptions:
+ *
+ ****************************************************************************/
+
+static int imx9_initialize(struct imx9_driver_s *priv)
+{
+ uint32_t tdcoff;
+ int i;
+ volatile struct mb_s *mb;
+
+ /* Enable module */
+
+ if (!imx9_setenable(priv->base, true))
+ {
+ canerr("FLEXCAN: enable fail\n");
+ return ERROR;
+ }
+
+ /* Enter freeze mode */
+
+ if (!imx9_setfreeze(priv->base, true))
+ {
+ canerr("FLEXCAN: freeze fail\n");
+ return ERROR;
+ }
+
+ /* Initialize memory buffers */
+
+ imx9_init_eccram(priv);
+
+ /* Configure MCR */
+
+ modifyreg32(priv->base + IMX9_CAN_MCR_OFFSET, CAN_MCR_MAXMB_MASK,
+ CAN_MCR_SLFWAK | CAN_MCR_WRNEN | CAN_MCR_SRXDIS |
+ CAN_MCR_WAKSRC | CAN_MCR_IRMQ | CAN_MCR_LPRIOEN | CAN_MCR_AEN |
+ (((TOTALMBCOUNT - 1) << CAN_MCR_MAXMB_SHIFT) &
+ CAN_MCR_MAXMB_MASK));
+
+ if (!priv->canfd_capable)
+ {
+ modifyreg32(priv->base + IMX9_CAN_CTRL1_OFFSET,
+ CAN_CTRL1_PRESDIV_MASK | CAN_CTRL1_PROPSEG_MASK |
+ CAN_CTRL1_PSEG1_MASK | CAN_CTRL1_PSEG2_MASK |
+ CAN_CTRL1_RJW_MASK,
+ CAN_CTRL1_PRESDIV(priv->arbi_timing.presdiv) | /* Prescaler divisor factor */
+ CAN_CTRL1_PROPSEG(priv->arbi_timing.propseg) | /* Propagation segment */
+ CAN_CTRL1_PSEG1(priv->arbi_timing.pseg1) | /* Phase buffer segment 1 */
+ CAN_CTRL1_PSEG2(priv->arbi_timing.pseg2) | /* Phase buffer segment 2 */
+ CAN_CTRL1_RJW(1)); /* Resynchronization jump width */
+ }
+ else
+ {
+ modifyreg32(priv->base + IMX9_CAN_CBT_OFFSET,
+ CAN_CBT_EPRESDIV_MASK | CAN_CBT_EPROPSEG_MASK |
+ CAN_CBT_EPSEG1_MASK | CAN_CBT_EPSEG2_MASK |
+ CAN_CBT_ERJW_MASK,
+ CAN_CBT_BTF | /* Enable extended bit timing
+ * configurations for CAN-FD for setting up
+ * separately nominal and data phase */
+ CAN_CBT_EPRESDIV(priv->arbi_timing.presdiv) | /* Prescaler divisor factor */
+ CAN_CBT_EPROPSEG(priv->arbi_timing.propseg) | /* Propagation segment */
+ CAN_CBT_EPSEG1(priv->arbi_timing.pseg1) | /* Phase buffer segment 1 */
+ CAN_CBT_EPSEG2(priv->arbi_timing.pseg2) | /* Phase buffer segment 2 */
+ CAN_CBT_ERJW(1)); /* Resynchronization jump width */
+
+ /* Enable CAN FD feature */
+
+ modifyreg32(priv->base + IMX9_CAN_MCR_OFFSET, 0, CAN_MCR_FDEN);
+
+ modifyreg32(priv->base + IMX9_CAN_FDCBT_OFFSET,
+ CAN_FDCBT_FPRESDIV_MASK | CAN_FDCBT_FPROPSEG_MASK |
+ CAN_FDCBT_FPSEG1_MASK | CAN_FDCBT_FPSEG2_MASK |
+ CAN_FDCBT_FRJW_MASK,
+ CAN_FDCBT_FPRESDIV(priv->data_timing.presdiv) | /* Prescaler divisor factor of 1 */
+ CAN_FDCBT_FPROPSEG(priv->data_timing.propseg) | /* Propagation
+ * segment (only register that doesn't add 1) */
+ CAN_FDCBT_FPSEG1(priv->data_timing.pseg1) | /* Phase buffer segment 1 */
+ CAN_FDCBT_FPSEG2(priv->data_timing.pseg2) | /* Phase buffer segment 2 */
+ CAN_FDCBT_FRJW(priv->data_timing.pseg2)); /* Resynchorinzation jump width same as PSEG2 */
+
+ /* Additional CAN-FD configurations */
+
+ tdcoff = (priv->data_timing.pseg1 + priv->data_timing.pseg2 + 2) *
+ (priv->data_timing.presdiv + 1);
+
+ modifyreg32(priv->base + IMX9_CAN_FDCTRL_OFFSET, 0,
+ CAN_FDCTRL_FDRATE | /* Enable bit rate switch in data phase of frame */
+ CAN_FDCTRL_TDCEN | /* Enable transceiver delay compensation */
+ CAN_FDCTRL_TDCOFF(tdcoff) | /* Setup 5 cycles for data phase sampling delay */
+ CAN_FDCTRL_MBDSR0(3) | /* Setup 64 bytes per MB 0-6 */
+ CAN_FDCTRL_MBDSR1(3) | /* Setup 64 bytes per MB 7-13 */
+ CAN_FDCTRL_MBDSR2(3)); /* Setup 64 bytes per MB 14-20 */
+
+ modifyreg32(priv->base + IMX9_CAN_CTRL2_OFFSET, 0,
+ CAN_CTRL2_ISOCANFDEN);
+ }
+
+ /* Exit supervisor mode */
+
+ modifyreg32(priv->base + IMX9_CAN_MCR_OFFSET, CAN_MCR_SUPV, 0);
+
+ /* Always compare also IDE and RTR bits to mask in RX */
+
+ modifyreg32(priv->base + IMX9_CAN_CTRL2_OFFSET, CAN_CTRL2_RETRY_MASK,
+ CAN_CTRL2_RRS | CAN_CTRL2_EACEN |
+ 3 << CAN_CTRL2_RETRY_SHIFT);
+
+ /* Clear MB interrupts */
+
+ putreg32(IFLAG1_TX | IFLAG1_RX, priv->base + IMX9_CAN_IFLAG1_OFFSET);
+
+ /* Enable MB interrupts */
+
+ putreg32(IFLAG1_TX | IFLAG1_RX, priv->base + IMX9_CAN_IMASK1_OFFSET);
+
+ /* Set RX buffers to receive */
+
+ for (i = 0; i < RXMBCOUNT; i++)
+ {
+ mb = flexcan_get_mb(priv, i);
+ mb->cs = (CAN_RXMB_EMPTY << CAN_MB_CS_CODE_SHIFT) | CAN_MB_CS_IDE;
+ }
+
+ /* Exit freeze mode */
+
+ if (!imx9_setfreeze(priv->base, false))
+ {
+ canerr("FLEXCAN: unfreeze fail\n");
+ return ERROR;
+ }
+
+ return OK;
+}
+
+/****************************************************************************
+ * Function: imx9_reset
+ *
+ * Description:
+ * Reset the flexcan and put it into disabled state
+ *
+ * Input Parameters:
+ * priv - Reference to the private FLEXCAN driver state structure
+ *
+ * Returned Value:
+ * None
+ *
+ * Assumptions:
+ *
+ ****************************************************************************/
+
+static void imx9_reset(struct imx9_driver_s *priv)
+{
+ modifyreg32(priv->base + IMX9_CAN_MCR_OFFSET, 0, CAN_MCR_SOFTRST);
+
+ if (!imx9_waitmcr_change(priv->base, CAN_MCR_SOFTRST, false))
+ {
+ canerr("Reset failed");
+ return;
+ }
+
+ /* Enable module */
+
+ if (!imx9_setenable(priv->base, false))
+ {
+ canerr("Disable fail\n");
+ return;
+ }
+}
+
+/****************************************************************************
+ * Function: imx9_canpinmux
+ *
+ * Description:
+ * Mux the pins used for CAN RX&TX
+ *ยง
+ * Input Parameters:
+ * None
+ *
+ * Returned Value:
+ * None
+ *
+ * Assumptions:
+ *
+ ****************************************************************************/
+
+static void imx9_canpinmux(void)
+{
+#ifdef CONFIG_IMX9_FLEXCAN1
+ imx9_iomux_configure(MUX_FLEXCAN1_TX);
+ imx9_iomux_configure(MUX_FLEXCAN1_RX);
+#endif
+
+#ifdef CONFIG_IMX9_FLEXCAN2
+ imx9_iomux_configure(MUX_FLEXCAN2_TX);
+ imx9_iomux_configure(MUX_FLEXCAN2_RX);
+#endif
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Function: imx9_caninitialize
+ *
+ * Description:
+ * Initialize the CAN controller and driver
+ *
+ * Input Parameters:
+ * intf - In the case where there are multiple CAN, this value
+ * identifies which CAN is to be initialized.
+ *
+ * Returned Value:
+ * OK on success; Negated errno on failure.
+ *
+ * Assumptions:
+ *
+ ****************************************************************************/
+
+int imx9_caninitialize(int intf)
+{
+ struct imx9_driver_s *priv;
+ int ret;
+
+ /* Select device, configure root clock to PLL1PFD1DIV2 / 5 and enable
+ * peripheral clock
+ */
+
+ switch (intf)
+ {
+#ifdef CONFIG_IMX9_FLEXCAN1
+ case 1:
+ imx9_ccm_configure_root_clock(CCM_CR_CAN1, SYS_PLL1PFD1DIV2, 5);
+ imx9_ccm_gate_on(CCM_LPCG_CAN1, true);
+ priv = &g_flexcan1;
+ break;
+#endif
+
+#ifdef CONFIG_IMX9_FLEXCAN2
+ case 2:
+ imx9_ccm_configure_root_clock(CCM_CR_CAN2, SYS_PLL1PFD1DIV2, 5);
+ imx9_ccm_gate_on(CCM_LPCG_CAN2, true);
+ priv = &g_flexcan2;
+ break;
+#endif
+
+ default:
+ return -ENODEV;
+ }
+
+ /* Get and store the clock (should be 80 MHz now) */
+
+ imx9_get_rootclock(CCM_CR_CAN1, &priv->clk_freq);
+
+ if (imx9_bitratetotimeseg(priv, &priv->arbi_timing, false) != OK)
+ {
+ canerr("ERROR: Invalid CAN timings please try another sample point "
+ "or refer to the reference manual\n");
+ return -1;
+ }
+
+ if (priv->canfd_capable)
+ {
+ if (imx9_bitratetotimeseg(priv, &priv->data_timing, true) != OK)
+ {
+ canerr("ERROR: Invalid CAN data phase timings please try another "
+ "sample point or refer to the reference manual\n");
+ return -1;
+ }
+ }
+
+ /* Mux the can RX&TX pins */
+
+ imx9_canpinmux();
+
+ if (irq_attach(priv->irq, imx9_flexcan_interrupt, priv))
+ {
+ /* We could not attach the ISR to the interrupt */
+
+ canerr("ERROR: Failed to attach CAN bus IRQ\n");
+ return -EAGAIN;
+ }
+
+ if (irq_attach(priv->irq + 1, imx9_flexcan_interrupt, priv))
+ {
+ /* We could not attach the error ISR to the interrupt */
+
+ canerr("ERROR: Failed to attach CAN bus error IRQ\n");
+ irq_detach(priv->irq);
+ return -EAGAIN;
+ }
+
+ /* Initialize the driver structure */
+
+ priv->dev.d_ifup = imx9_ifup; /* I/F up (new IP address) callback */
+ priv->dev.d_ifdown = imx9_ifdown; /* I/F down callback */
+ priv->dev.d_txavail = imx9_txavail; /* New TX data callback */
+#ifdef CONFIG_NETDEV_IOCTL
+ priv->dev.d_ioctl = imx9_ioctl; /* Support CAN ioctl() calls */
+#endif
+
+ /* Put the interface in the down state. This usually amounts to resetting
+ * the device and/or calling imx9_ifdown().
+ */
+
+ ninfo("callbacks done\n");
+
+ imx9_ifdown(&priv->dev);
+
+ /* Register the device with the OS so that socket IOCTLs can be performed */
+
+ netdev_register(&priv->dev, NET_LL_CAN);
+
+ UNUSED(ret);
+ return OK;
+}
+
+/****************************************************************************
+ * Name: arm64_caninitialize
+ *
+ * Description:
+ * Initialize the can network interfaces.
+ *
+ ****************************************************************************/
+
+#if !defined(CONFIG_NETDEV_LATEINIT)
+void arm64_caninitialize(void)
+{
+#ifdef CONFIG_IMX9_FLEXCAN1
+ imx9_caninitialize(1);
+#endif
+
+#ifdef CONFIG_IMX9_FLEXCAN2
+ imx9_caninitialize(2);
+#endif
+}
+#endif
+
+#endif /* CONFIG_IMX9_FLEXCAN */
diff --git a/arch/arm64/src/imx9/imx9_flexcan.h b/arch/arm64/src/imx9/imx9_flexcan.h
new file mode 100644
index 0000000000..026249fc0b
--- /dev/null
+++ b/arch/arm64/src/imx9/imx9_flexcan.h
@@ -0,0 +1,84 @@
+/****************************************************************************
+ * arch/arm64/src/imx9/imx9_flexcan.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __ARCH_ARM64_SRC_IMX9_IMX9_FLEXCAN_H
+#define __ARCH_ARM64_SRC_IMX9_IMX9_FLEXCAN_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include "hardware/imx9_flexcan.h"
+
+#ifdef CONFIG_IMX9_FLEXCAN
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+#undef EXTERN
+#if defined(__cplusplus)
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Function: imx9_caninitialize
+ *
+ * Description:
+ * Initialize the enabled CAN device interfaces. If there are more
+ * different network devices in the chip, then board-specific logic will
+ * have to provide this function to determine which, if any, network
+ * devices should be initialized.
+ *
+ * Input Parameters:
+ * None
+ *
+ * Returned Value:
+ * OK on success; Negated errno on failure.
+ *
+ * Assumptions:
+ * Called very early in the initialization sequence.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_NETDEV_LATEINIT
+int imx9_caninitialize(int intf);
+#endif
+
+#undef EXTERN
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* __ASSEMBLY__ */
+#endif /* CONFIG_IMX9_FLEXCAN */
+#endif /* __ARCH_ARM64_SRC_IMX9_IMX9_FLEXCAN_H */