atsam: Add support for CAN on atsame70 (#6366)

Signed-off-by: Luke Vuksta <[email protected]>
Klipper3d · Oct 19, 2023 · dd01e99 · dd01e99
1 parent b1f597c
commit dd01e99
Show file tree

Hide file tree

Showing 6 changed files with 359 additions and 5 deletions.
diff --git a/src/atsam/Kconfig b/src/atsam/Kconfig
@@ -50,6 +50,9 @@ config MACH_SAM4E
     select MACH_SAM4
 config MACH_SAME70
     bool
+config HAVE_SAM_CANBUS
+    bool
+    default y if MACH_SAME70
 
 config MCU
     string
@@ -101,6 +104,32 @@ choice
     config ATSAM_SERIAL
         bool "Serial"
         select SERIAL
+    config ATSAM_MMENU_CANBUS_PC12_PD12
+        bool "CAN bus (on PC12/PD12)"
+        depends on HAVE_SAM_CANBUS
+        select CANSERIAL
+    config ATSAM_MMENU_CANBUS_PB3_PB2
+        bool "CAN bus (on PB3/PB2)"
+        depends on HAVE_SAM_CANBUS
+        select CANSERIAL
+    config ATSAM_USBCANBUS
+        bool "USB to CAN bus bridge"
+        depends on HAVE_SAM_CANBUS
+        select USBCANBUS
+endchoice
+choice
+    prompt "CAN bus interface" if USBCANBUS
+    config ATSAM_CMENU_CANBUS_PC12_PD12
+        bool "CAN bus (on PC12/PD12)"
+    config ATSAM_CMENU_CANBUS_PB3_PB2
+        bool "CAN bus (on PB3/PB2)"
 endchoice
 
+config ATSAM_CANBUS_PC12_PD12
+    bool
+    default y if ATSAM_MMENU_CANBUS_PC12_PD12 || ATSAM_CMENU_CANBUS_PC12_PD12
+config ATSAM_CANBUS_PB3_PB2
+    bool
+    default y if ATSAM_MMENU_CANBUS_PB3_PB2 || ATSAM_CMENU_CANBUS_PB3_PB2
+
 endif
diff --git a/src/atsam/Makefile b/src/atsam/Makefile
@@ -3,7 +3,7 @@
 # Setup the toolchain
 CROSS_PREFIX=arm-none-eabi-
 
-dirs-y += src/atsam src/generic
+dirs-y += src/atsam src/generic lib/fast-hash
 dirs-$(CONFIG_MACH_SAM3X) += lib/sam3x/gcc
 dirs-$(CONFIG_MACH_SAM4S) += lib/sam4s/gcc
 dirs-$(CONFIG_MACH_SAM4E) += lib/sam4e/gcc
@@ -18,7 +18,7 @@ CFLAGS-$(CONFIG_MACH_SAM3X) += -Ilib/sam3x/include
 CFLAGS-$(CONFIG_MACH_SAM4S) += -Ilib/sam4s/include
 CFLAGS-$(CONFIG_MACH_SAM4E) += -Ilib/sam4e/include
 CFLAGS-$(CONFIG_MACH_SAME70) += -Ilib/same70b/include
-CFLAGS += $(CFLAGS-y) -D__$(MCU)__ -mthumb -Ilib/cmsis-core
+CFLAGS += $(CFLAGS-y) -D__$(MCU)__ -mthumb -Ilib/cmsis-core -Ilib/fast-hash
 
 CFLAGS_klipper.elf += --specs=nano.specs --specs=nosys.specs
 CFLAGS_klipper.elf += -T $(OUT)src/generic/armcm_link.ld
@@ -33,6 +33,10 @@ usb-src-$(CONFIG_MACH_SAM4) := atsam/sam4_usb.c
 usb-src-$(CONFIG_MACH_SAME70) := atsam/sam3_usb.c
 src-$(CONFIG_USBSERIAL) += $(usb-src-y) atsam/chipid.c generic/usb_cdc.c
 src-$(CONFIG_SERIAL) += atsam/serial.c generic/serial_irq.c
+canbus-src-y := generic/canserial.c ../lib/fast-hash/fasthash.c
+canbus-src-y += atsam/fdcan.c atsam/chipid.c
+src-$(CONFIG_USBCANBUS) += $(canbus-src-y) $(usb-src-y) generic/usb_canbus.c
+src-$(CONFIG_CANSERIAL) += $(canbus-src-y) generic/canbus.c
 src-$(CONFIG_MACH_SAM3X) += atsam/adc.c atsam/hard_pwm.c
 src-$(CONFIG_MACH_SAM4)  += atsam/hard_pwm.c
 src-$(CONFIG_MACH_SAM4S) += atsam/adc.c

diff --git a/src/atsam/chipid.c b/src/atsam/chipid.c
@@ -5,6 +5,7 @@
 // This file may be distributed under the terms of the GNU GPLv3 license.
 
 #include "generic/irq.h" // irq_disable
+#include "generic/canserial.h" // canserial_set_uuid
 #include "generic/usb_cdc.h" // usb_fill_serial
 #include "generic/usbstd.h" // usb_string_descriptor
 #include "internal.h" // EFC0
@@ -61,14 +62,18 @@ read_chip_id(uint32_t *id)
 void
 chipid_init(void)
 {
-    if (!CONFIG_USB_SERIAL_NUMBER_CHIPID)
+    if (!CONFIG_USB_SERIAL_NUMBER_CHIPID && !CONFIG_CANBUS)
         return;
 
     uint32_t id[4];
     irq_disable();
     read_chip_id(id);
     irq_enable();
 
-    usb_fill_serial(&cdc_chipid.desc, ARRAY_SIZE(cdc_chipid.data), id);
+    if (CONFIG_USB_SERIAL_NUMBER_CHIPID)
+        usb_fill_serial(&cdc_chipid.desc, ARRAY_SIZE(cdc_chipid.data), id);
+
+    if (CONFIG_CANBUS)
+        canserial_set_uuid((void*)id, CHIP_UID_LEN);
 }
 DECL_INIT(chipid_init);