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drivers: can: mcp251xfd: Use macro to set TDCO
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Use CAN_CALC_TDCO() macro to set TDCO. There is a minor change how the
tdco is calculated. In the macro the SYNC segement is taken into
account while it wasn't used before.

Fixes zephyrproject-rtos#73821.

Signed-off-by: Andriy Gelman <andriy.gelman@gmail.com>
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@talih0 @nashif
talih0 authored and nashif committed Jun 17, 2024
1 parent 83958eb commit d2607f0
Showing 1 changed file with 8 additions and 11 deletions.
19 changes: 8 additions & 11 deletions drivers/can/can_mcp251xfd.c
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Original file line number Diff line number Diff line change
Expand Up @@ -286,21 +286,17 @@ static int mcp251xfd_reg_check_value_wtimeout(const struct device *dev, uint16_t
return 0;
}

static int mcp251xfd_set_tdc(const struct device *dev, bool is_enabled, int tdc_offset)
static int mcp251xfd_set_tdc(const struct device *dev, bool is_enabled)
{
uint32_t *reg;
uint32_t tmp;

if (is_enabled &&
(tdc_offset < MCP251XFD_REG_TDC_TDCO_MIN || tdc_offset > MCP251XFD_REG_TDC_TDCO_MAX)) {
return -EINVAL;
}
struct mcp251xfd_data *dev_data = dev->data;

reg = mcp251xfd_get_spi_buf_ptr(dev);

if (is_enabled) {
tmp = FIELD_PREP(MCP251XFD_REG_TDC_TDCMOD_MASK, MCP251XFD_REG_TDC_TDCMOD_AUTO);
tmp |= FIELD_PREP(MCP251XFD_REG_TDC_TDCO_MASK, tdc_offset);
tmp |= FIELD_PREP(MCP251XFD_REG_TDC_TDCO_MASK, dev_data->tdco);
} else {
tmp = FIELD_PREP(MCP251XFD_REG_TDC_TDCMOD_MASK, MCP251XFD_REG_TDC_TDCMOD_DISABLED);
}
Expand Down Expand Up @@ -337,9 +333,9 @@ static int mcp251xfd_set_mode_internal(const struct device *dev, uint8_t request
if (requested_mode == MCP251XFD_REG_CON_MODE_CAN2_0 ||
requested_mode == MCP251XFD_REG_CON_MODE_EXT_LOOPBACK ||
requested_mode == MCP251XFD_REG_CON_MODE_INT_LOOPBACK) {
ret = mcp251xfd_set_tdc(dev, false, 0);
ret = mcp251xfd_set_tdc(dev, false);
} else if (requested_mode == MCP251XFD_REG_CON_MODE_MIXED) {
ret = mcp251xfd_set_tdc(dev, true, dev_data->tdco);
ret = mcp251xfd_set_tdc(dev, true);
}

if (ret < 0) {
Expand Down Expand Up @@ -470,7 +466,8 @@ static int mcp251xfd_set_timing_data(const struct device *dev, const struct can_

*reg = sys_cpu_to_le32(tmp);

dev_data->tdco = timing->prescaler * (timing->prop_seg + timing->phase_seg1);
/* actual TDCO minimum is -64 but driver implementation only sets >= 0 values */
dev_data->tdco = CAN_CALC_TDCO(timing, 0U, MCP251XFD_REG_TDC_TDCO_MAX);

ret = mcp251xfd_write(dev, MCP251XFD_REG_DBTCFG, MCP251XFD_REG_SIZE);
if (ret < 0) {
Expand Down Expand Up @@ -1638,7 +1635,7 @@ static int mcp251xfd_init(const struct device *dev)
goto done;
}

ret = mcp251xfd_set_tdc(dev, false, 0);
ret = mcp251xfd_set_tdc(dev, false);
if (ret < 0) {
goto done;
}
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