drivers: can: m_can: fix alignmed issues
Make sure that all access to the msg_sram is 32 bit aligned. Signed-off-by: Alexander Wachter <alexander@wachter.cloud>
This commit is contained in:
Alexander Wachter
Carles Cufí
parent
2269408572
commit
11d340f9c5
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@ -23,6 +23,34 @@ LOG_MODULE_DECLARE(can_driver, CONFIG_CAN_LOG_LEVEL);
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#define MCAN_MAX_DLC CAN_MAX_DLC
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#endif
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static void memcpy32_volatile(volatile void *dst_, const volatile void *src_,
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size_t len)
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{
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volatile uint32_t *dst = dst_;
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const volatile uint32_t *src = src_;
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__ASSERT(len % 4 == 0, "len must be a multiple of 4!");
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len /= sizeof(uint32_t);
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while (len--) {
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*dst = *src;
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++dst;
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++src;
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}
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}
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static void memset32_volatile(volatile void *dst_, uint32_t val, size_t len)
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{
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volatile uint32_t *dst = dst_;
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__ASSERT(len % 4 == 0, "len must be a multiple of 4!");
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len /= sizeof(uint32_t);
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while (len--) {
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*dst++ = val;
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}
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}
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static int can_exit_sleep_mode(struct can_mcan_reg *can)
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{
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uint32_t start_time;
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@ -386,12 +414,7 @@ int can_mcan_init(const struct device *dev, const struct can_mcan_config *cfg,
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}
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/* No memset because only aligned ptr are allowed */
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for (uint32_t *ptr = (uint32_t *)msg_ram;
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ptr < (uint32_t *)msg_ram +
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sizeof(struct can_mcan_msg_sram) / sizeof(uint32_t);
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ptr++) {
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*ptr = 0;
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}
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memset32_volatile(msg_ram, 0, sizeof(struct can_mcan_msg_sram));
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return 0;
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}
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@ -483,7 +506,6 @@ static void can_mcan_get_message(struct can_mcan_data *data,
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uint32_t get_idx, filt_idx;
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struct zcan_frame frame;
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can_rx_callback_t cb;
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volatile uint32_t *src, *dst, *end;
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int data_length;
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void *cb_arg;
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struct can_mcan_rx_fifo_hdr hdr;
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@ -491,7 +513,8 @@ static void can_mcan_get_message(struct can_mcan_data *data,
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while ((*fifo_status_reg & CAN_MCAN_RXF0S_F0FL)) {
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get_idx = (*fifo_status_reg & CAN_MCAN_RXF0S_F0GI) >>
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CAN_MCAN_RXF0S_F0GI_POS;
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hdr = fifo[get_idx].hdr;
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memcpy32_volatile(&hdr, &fifo[get_idx].hdr,
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sizeof(struct can_mcan_rx_fifo_hdr));
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if (hdr.xtd) {
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frame.id = hdr.ext_id;
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@ -522,13 +545,8 @@ static void can_mcan_get_message(struct can_mcan_data *data,
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data_length = can_dlc_to_bytes(frame.dlc);
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if (data_length <= sizeof(frame.data)) {
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/* data needs to be written in 32 bit blocks!*/
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for (src = fifo[get_idx].data_32,
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dst = frame.data_32,
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end = dst + CAN_DIV_CEIL(data_length, sizeof(uint32_t));
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dst < end;
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src++, dst++) {
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*dst = *src;
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}
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memcpy32_volatile(frame.data_32, fifo[get_idx].data_32,
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ROUND_UP(data_length, sizeof(uint32_t)));
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if (frame.id_type == CAN_STANDARD_IDENTIFIER) {
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LOG_DBG("Frame on filter %d, ID: 0x%x",
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@ -644,8 +662,6 @@ int can_mcan_send(const struct can_mcan_config *cfg,
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uint32_t put_idx;
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int ret;
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struct can_mcan_mm mm;
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volatile uint32_t *dst, *end;
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const uint32_t *src;
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LOG_DBG("Sending %d bytes. Id: 0x%x, ID type: %s %s %s %s",
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data_length, frame->id,
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@ -693,15 +709,9 @@ int can_mcan_send(const struct can_mcan_config *cfg,
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tx_hdr.ext_id = frame->id;
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}
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msg_ram->tx_buffer[put_idx].hdr = tx_hdr;
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for (src = frame->data_32,
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dst = msg_ram->tx_buffer[put_idx].data_32,
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end = dst + CAN_DIV_CEIL(data_length, sizeof(uint32_t));
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dst < end;
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src++, dst++) {
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*dst = *src;
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}
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memcpy32_volatile(&msg_ram->tx_buffer[put_idx].hdr, &tx_hdr, sizeof(tx_hdr));
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memcpy32_volatile(msg_ram->tx_buffer[put_idx].data_32, frame->data_32,
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ROUND_UP(data_length, 4));
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data->tx_fin_cb[put_idx] = callback;
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data->tx_fin_cb_arg[put_idx] = user_data;
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@ -758,7 +768,8 @@ int can_mcan_attach_std(struct can_mcan_data *data,
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filter_element.sfce = filter_nr & 0x01 ? CAN_MCAN_FCE_FIFO1 :
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CAN_MCAN_FCE_FIFO0;
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msg_ram->std_filt[filter_nr] = filter_element;
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memcpy32_volatile(&msg_ram->std_filt[filter_nr], &filter_element,
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sizeof(struct can_mcan_std_filter));
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k_mutex_unlock(&data->inst_mutex);
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@ -817,7 +828,8 @@ static int can_mcan_attach_ext(struct can_mcan_data *data,
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filter_element.efce = filter_nr & 0x01 ? CAN_MCAN_FCE_FIFO1 :
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CAN_MCAN_FCE_FIFO0;
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msg_ram->ext_filt[filter_nr] = filter_element;
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memcpy32_volatile(&msg_ram->ext_filt[filter_nr], &filter_element,
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sizeof(struct can_mcan_ext_filter));
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k_mutex_unlock(&data->inst_mutex);
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@ -871,9 +883,6 @@ int can_mcan_attach_isr(struct can_mcan_data *data,
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void can_mcan_detach(struct can_mcan_data *data,
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struct can_mcan_msg_sram *msg_ram, int filter_nr)
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{
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const struct can_mcan_ext_filter ext_filter = {0};
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const struct can_mcan_std_filter std_filter = {0};
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k_mutex_lock(&data->inst_mutex, K_FOREVER);
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if (filter_nr >= NUM_STD_FILTER_DATA) {
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filter_nr -= NUM_STD_FILTER_DATA;
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@ -882,10 +891,12 @@ void can_mcan_detach(struct can_mcan_data *data,
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return;
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}
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msg_ram->ext_filt[filter_nr] = ext_filter;
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memset32_volatile(&msg_ram->ext_filt[filter_nr], 0,
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sizeof(struct can_mcan_ext_filter));
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data->rx_cb_ext[filter_nr] = NULL;
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} else {
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msg_ram->std_filt[filter_nr] = std_filter;
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memset32_volatile(&msg_ram->std_filt[filter_nr], 0,
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sizeof(struct can_mcan_std_filter));
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data->rx_cb_std[filter_nr] = NULL;
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}
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@ -48,7 +48,7 @@ struct can_mcan_rx_fifo_hdr {
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volatile uint32_t res : 2; /* Reserved */
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volatile uint32_t fidx : 7; /* Filter Index */
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volatile uint32_t anmf : 1; /* Accepted non-matching frame */
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} __packed;
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} __packed __aligned(4);
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struct can_mcan_rx_fifo {
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struct can_mcan_rx_fifo_hdr hdr;
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@ -56,7 +56,7 @@ struct can_mcan_rx_fifo {
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volatile uint8_t data[64];
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volatile uint32_t data_32[16];
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};
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} __packed;
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} __packed __aligned(4);
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struct can_mcan_mm {
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volatile uint8_t idx : 5;
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@ -84,7 +84,7 @@ struct can_mcan_tx_buffer_hdr {
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volatile uint8_t res2 : 1; /* Reserved */
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volatile uint8_t efc : 1; /* Event FIFO control (Store Tx events) */
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struct can_mcan_mm mm; /* Message marker */
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} __packed;
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} __packed __aligned(4);
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struct can_mcan_tx_buffer {
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struct can_mcan_tx_buffer_hdr hdr;
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@ -92,7 +92,7 @@ struct can_mcan_tx_buffer {
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volatile uint8_t data[64];
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volatile uint32_t data_32[16];
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};
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} __packed;
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} __packed __aligned(4);
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#define CAN_MCAN_TE_TX 0x1 /* TX event */
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#define CAN_MCAN_TE_TXC 0x2 /* TX event in spite of cancellation */
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@ -109,7 +109,7 @@ struct can_mcan_tx_event_fifo {
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volatile uint8_t fdf : 1; /* FD Format */
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volatile uint8_t et : 2; /* Event type */
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struct can_mcan_mm mm; /* Message marker */
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} __packed;
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} __packed __aligned(4);
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#define CAN_MCAN_FCE_DISABLE 0x0
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#define CAN_MCAN_FCE_FIFO0 0x1
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@ -130,7 +130,7 @@ struct can_mcan_std_filter {
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volatile uint32_t id1 : 11;
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volatile uint32_t sfce : 3; /* Filter config */
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volatile uint32_t sft : 2; /* Filter type */
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} __packed;
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} __packed __aligned(4);
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#define CAN_MCAN_EFT_RANGE_XIDAM 0x0
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#define CAN_MCAN_EFT_DUAL 0x1
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@ -143,7 +143,7 @@ struct can_mcan_ext_filter {
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volatile uint32_t id2 : 29; /* ID2 for dual or range, mask otherwise */
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volatile uint32_t res : 1;
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volatile uint32_t eft : 2; /* Filter type */
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} __packed;
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} __packed __aligned(4);
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struct can_mcan_msg_sram {
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volatile struct can_mcan_std_filter std_filt[NUM_STD_FILTER_ELEMENTS];
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@ -153,7 +153,7 @@ struct can_mcan_msg_sram {
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volatile struct can_mcan_rx_fifo rx_buffer[NUM_RX_BUF_ELEMENTS];
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volatile struct can_mcan_tx_event_fifo tx_event_fifo[NUM_TX_BUF_ELEMENTS];
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volatile struct can_mcan_tx_buffer tx_buffer[NUM_TX_BUF_ELEMENTS];
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} __packed;
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} __packed __aligned(4);
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struct can_mcan_data {
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struct k_mutex inst_mutex;
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