add support for multichannel and CAN-FD

.editorconfig

@@ -17,6 +17,10 @@ indent_style = tab
 insert_final_newline = true
 trim_trailing_whitespace = true
 
+[*.yml]
+indent_size = 2
+indent_style = space
+
 [lib/**]
 indent_size = 2
 indent_style = space

.github/workflows/compile.yml

@@ -0,0 +1,53 @@
+name: compile
+
+on: [push, pull_request]
+
+jobs:
+  build:
+    runs-on: ubuntu-24.04
+    strategy:
+      fail-fast: false
+      matrix:
+        release:
+        - "ubuntu:20.04"
+        - "ubuntu:22.04"
+        - "ubuntu:24.04"
+        - "ubuntu:rolling"
+        - "debian:oldstable-slim"
+        - "debian:stable-slim"
+        - "debian:testing-slim"
+        - "debian:unstable-slim"
+
+    steps:
+    - uses: actions/checkout@v4
+
+    - name: Prepare ${{ matrix.release }} container
+      run: |
+        podman version
+        podman run --name stable -di --userns=keep-id:uid=1000,gid=1000 -v "$PWD":/home -w /home ${{ matrix.release }} bash
+        podman exec -i stable uname -a
+        podman exec -i stable id
+        podman exec -i -u root stable apt update
+        podman exec -e DEBIAN_FRONTEND='noninteractive' -i -u root stable apt install -o APT::Install-Suggests=false -qy \
+                clang \
+                cmake \
+                gcc-arm-none-eabi \
+                git \
+                make
+
+    - name: Configure & Build with arm-none-eabi-gcc
+      env:
+        toolchain: arm-none-eabi-gcc
+      run: |
+        podman exec -i stable cmake -DCMAKE_BUILD_TYPE=Debug -DCMAKE_TOOLCHAIN_FILE=cmake/${toolchain}.cmake -B build-${toolchain}
+        podman exec -i stable cmake --build build-${toolchain}
+
+    - name: Show logs
+      if: ${{ failure() }}
+      run: |
+        for log in build-*/CMakeFiles/{CMakeOutput.log,CMakeConfigureLog.yaml}; do \
+                if [ -e ${log} ]; then \
+                        echo "---------------- ${log} ----------------"; \
+                        cat ${log}; \
+                fi; \
+        done

.github/workflows/pr.yml

@@ -8,7 +8,7 @@ jobs:
     name: Check C Styling
     steps:
     - name: Checkout this commit
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
       with:
         fetch-depth: 2
     - name: uncrustify check

.gitignore

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

CMakeLists.txt

@@ -41,7 +41,7 @@ add_link_options(
 
 add_subdirectory(libs/STM32_HAL)
 add_subdirectory(libs/STM32_USB_Device_Library)
-set( CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_SOURCE_DIR}/cmake )
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_SOURCE_DIR}/cmake)
 
 
 # Add a custom target that produces version.h, plus
@@ -65,6 +65,7 @@ set(
 	include/usbd_gs_can.h src/usbd_gs_can.c
 	src/usbd_conf.c
 
+	include/board.h
 	include/can.h
 	include/can_common.h src/can_common.c
 	include/device.h
@@ -110,19 +111,22 @@ find_package(DFUSuffix)
 
 function(dfu_flash target)
 	if (DFU_SUFFIX_EXECUTABLE)
-		add_custom_command( TARGET ${target}
+		add_custom_command(TARGET ${target}
+			DEPENDS ${target}
 			BYPRODUCTS ${target}.dfu
 			COMMAND ${CMAKE_OBJCOPY} -O binary ${target} ${target}.dfu
 			COMMAND ${DFU_SUFFIX_EXECUTABLE} --add ${target}.dfu --vid 1d50 --pid 606f 1>/dev/null
 			COMMENT "create and sign dfu bin file: ${TGTNAME}_fw"
 		)
 
-		add_custom_target( flash-${target}
-			dfu-util -a 0 -R -s 0x08000000 -D ${target}.dfu
+		add_custom_target(flash-${target}
+			dfu-util -a 0 -s 0x08000000:leave -D ${target}.dfu
+			DEPENDS ${target}.dfu
 		)
 	else()
-		add_custom_target( flash-${target}
-			dfu-util -d 1d50:606f -a 0 -R -s 0x08000000 -D ${target}.bin
+		add_custom_target(flash-${target}
+			dfu-util -d 1d50:606f -a 0 -s 0x08000000:leave -D ${target}.bin
+			DEPENDS ${target}.bin
 		)
 	endif()
 endfunction()
@@ -140,9 +144,9 @@ endfunction()
 # at configure time.
 
 function(populate_ldscript)
-    set(prefix LDV)
-    set(options)
-    set(oneValueArgs
+	set(prefix LDV)
+	set(options)
+	set(oneValueArgs
 		CPU_FAMILY
 		FLASH_START
 		FLASH_SIZE
@@ -192,23 +196,23 @@ populate_ldscript(CPU_FAMILY STM32F407XE
 	HEAP_SIZE 1k
 )
 
-populate_ldscript(CPU_FAMILY STM32G0B1XK
+populate_ldscript(CPU_FAMILY STM32G0B1xx
 	FLASH_START 0x08000000
-	FLASH_SIZE 512k
+	FLASH_SIZE 128k
 	RAM_START 0x20000000
 	RAM_SIZE 144k
 	STACK_SIZE 2k
 	HEAP_SIZE 1k
 )
 
 ######### commands for adding each target have a lot in common: make helper func.
-# Split into two categories, F042-based and F072-based.
+# one helper func per STM32 CPU family
 
 function(add_target_common TGTNAME CPU_FAMILY)
 	add_executable(${TGTNAME}_fw ${SOURCE_FILES})
 	add_dependencies(${TGTNAME}_fw version_h)
 	target_include_directories(${TGTNAME}_fw PRIVATE include/ ${CMAKE_CURRENT_BINARY_DIR})
-	target_link_options(${TGTNAME}_fw PRIVATE -T ${CPU_FAMILY}_processed.ld)
+	target_link_options(${TGTNAME}_fw PRIVATE -T ${CPU_FAMILY}_processed.ld LINKER:-Map=${TGTNAME}_fw.map)
 	make_bin_file(${TGTNAME}_fw)
 	dfu_flash(${TGTNAME}_fw)
 	show_object_size(${TGTNAME}_fw)
@@ -218,6 +222,7 @@ function(add_f042_target TGTNAME)
 	add_target_common(${TGTNAME} STM32F042X6)
 	target_compile_options(${TGTNAME}_fw BEFORE PRIVATE ${CPUFLAGS_F0})
 	target_compile_definitions(${TGTNAME}_fw PRIVATE BOARD_${TGTNAME} STM32F0)
+	target_sources(${TGTNAME}_fw PRIVATE "src/boards/legacy.c")
 	target_sources(${TGTNAME}_fw PRIVATE "src/can/bxcan.c")
 	target_sources(${TGTNAME}_fw PRIVATE "src/device/device_f0.c")
 	target_link_options(${TGTNAME}_fw BEFORE PRIVATE ${CPUFLAGS_F0})
@@ -228,38 +233,61 @@ function(add_f072_target TGTNAME)
 	add_target_common(${TGTNAME} STM32F072XB)
 	target_compile_options(${TGTNAME}_fw BEFORE PRIVATE ${CPUFLAGS_F0})
 	target_compile_definitions(${TGTNAME}_fw PRIVATE BOARD_${TGTNAME} STM32F0)
+	target_sources(${TGTNAME}_fw PRIVATE "src/boards/legacy.c")
 	target_sources(${TGTNAME}_fw PRIVATE "src/can/bxcan.c")
 	target_sources(${TGTNAME}_fw PRIVATE "src/device/device_f0.c")
 	target_link_options(${TGTNAME}_fw BEFORE PRIVATE ${CPUFLAGS_F0})
 	target_link_libraries(${TGTNAME}_fw PRIVATE STM32_HAL_STM32F072xB STM32_USB_Device_Library_STM32F072xB)
-
 endfunction()
 
 function(add_f407_target TGTNAME)
 	add_target_common(${TGTNAME} STM32F407XE)
 	target_compile_definitions(${TGTNAME}_fw PRIVATE BOARD_${TGTNAME} STM32F4)
 	target_compile_options(${TGTNAME}_fw BEFORE PRIVATE ${CPUFLAGS_F4})
+	target_sources(${TGTNAME}_fw PRIVATE "src/boards/legacy.c")
 	target_sources(${TGTNAME}_fw PRIVATE "src/can/bxcan.c")
 	target_sources(${TGTNAME}_fw PRIVATE "src/device/device_f4.c")
 	target_link_options(${TGTNAME}_fw BEFORE PRIVATE ${CPUFLAGS_F4})
 	target_link_libraries(${TGTNAME}_fw PRIVATE STM32_HAL_STM32F407xE STM32_USB_Device_Library_STM32F407xE)
 endfunction()
 
 function(add_g0b1_target TGTNAME)
-	add_target_common(${TGTNAME} STM32G0B1XK)
+	add_target_common(${TGTNAME} STM32G0B1xx)
 	target_compile_definitions(${TGTNAME}_fw PRIVATE BOARD_${TGTNAME} STM32G0)
 	target_compile_options(${TGTNAME}_fw BEFORE PRIVATE ${CPUFLAGS_G0})
+	target_sources(${TGTNAME}_fw PRIVATE "src/boards/g0b1-${TGTNAME}.c")
+	target_sources(${TGTNAME}_fw PRIVATE "src/can/m_can.c")
 	target_sources(${TGTNAME}_fw PRIVATE "src/device/device_g0.c")
 	target_link_options(${TGTNAME}_fw BEFORE PRIVATE ${CPUFLAGS_G0})
-	target_link_libraries(${TGTNAME}_fw PRIVATE STM32_HAL_STM32G0B1xK STM32_USB_Device_Library_STM32G0B1xK)
+	target_link_libraries(${TGTNAME}_fw PRIVATE STM32_HAL_STM32G0B1xx STM32_USB_Device_Library_STM32G0B1xx)
 endfunction()
 
 ########## generate list of targets.
 # the "_fw" part is appended automatically
-set(TGTF042_LIST "cantact" "canalyze" "canable" "usb2can" "cannette")
-set(TGTF072_LIST "candleLight" "CANable_MKS" "CONVERTDEVICE_xCAN" "DSD_TECH_SH_C30A" "FYSETC_UCAN")
-set(TGTF407_LIST "STM32F4_DevBoard")
-set(TGTG0B1_LIST "budgetcan" "CONVERTDEVICE_xCANFD")
+set(TGTF042_LIST
+	"canable"
+	"canalyze"
+	"cannette"
+	"cantact"
+	"usb2can"
+)
+set(TGTF072_LIST
+	"CANable_MKS"
+	"CONVERTDEVICE_xCAN"
+	"DSD_TECH_SH_C30A"
+	"FYSETC_UCAN"
+	"candleLight"
+)
+set(TGTF407_LIST
+	"STM32F4_DevBoard"
+)
+set(TGTG0B1_LIST
+	"2C2L_USB"
+	"CONVERTDEVICE_xCANFD"
+	"budgetcan"
+	"candleLightFD"
+	"nucleo_g0b1re"
+)
 
 foreach (TGTNAME IN LISTS TGTF042_LIST)
 	option(BUILD_${TGTNAME} "Build firmware for \"${TGTNAME}\" (default=yes)" ON)
@@ -283,7 +311,7 @@ foreach (TGTNAME IN LISTS TGTF407_LIST)
 endforeach()
 
 foreach (TGTNAME IN LISTS TGTG0B1_LIST)
-	option(BUILD_${TGTNAME} "Build firmware for \"${TGTNAME}\" (default=yes)" OFF)
+	option(BUILD_${TGTNAME} "Build firmware for \"${TGTNAME}\" (default=yes)" ON)
 	if (BUILD_${TGTNAME})
 		add_g0b1_target(${TGTNAME})
 	endif()

cmake/FindDFUSuffix.cmake

@@ -1,9 +1,8 @@
-# find and set DFU_SUFFIX_EXECUTABLE
-
-find_program ( DFU_SUFFIX_EXECUTABLE
-	NAMES dfu-suffix
-	DOC "dfu-suffix executable"
-)
-
-mark_as_advanced ( DFU_SUFFIX_EXECUTABLE )
-
+# find and set DFU_SUFFIX_EXECUTABLE
+
+find_program(DFU_SUFFIX_EXECUTABLE
+	NAMES dfu-suffix
+	DOC "dfu-suffix executable"
+)
+
+mark_as_advanced(DFU_SUFFIX_EXECUTABLE)

cmake/arm-none-eabi-clang.cmake

@@ -0,0 +1,8 @@
+set(CMAKE_SYSTEM_NAME Generic)
+set(CMAKE_SYSTEM_PROCESSOR arm)
+
+set(CMAKE_C_COMPILER clang)
+set(CMAKE_C_COMPILER_TARGET arm-none-eabi)
+
+SET (CMAKE_C_COMPILER_WORKS 1)
+SET (CMAKE_CXX_COMPILER_WORKS 1)

cmake/arm-none-eabi-gcc.cmake

@@ -0,0 +1,8 @@
+set(CMAKE_SYSTEM_NAME Generic)
+set(CMAKE_SYSTEM_PROCESSOR arm)
+
+set(CMAKE_C_COMPILER arm-none-eabi-gcc)
+set(CMAKE_C_COMPILER_TARGET arm-none-eabi)
+
+SET (CMAKE_C_COMPILER_WORKS 1)
+SET (CMAKE_CXX_COMPILER_WORKS 1)

include/board.h

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

include/can.h

@@ -29,13 +29,18 @@ THE SOFTWARE.
 #include <stdint.h>
 #include <stdbool.h>
 
+#include "config.h"
 #include "gs_usb.h"
 #include "hal_include.h"
 #include "led.h"
 #include "list.h"
 
 typedef struct {
+#if defined(STM32G0)
+	FDCAN_HandleTypeDef channel;
+#else
 	CAN_TypeDef *instance;
+#endif
 	struct list_head list_from_host;
 	led_data_t leds;
 	uint32_t reg_esr_old;
@@ -47,9 +52,28 @@ typedef struct {
 } can_data_t;
 
 extern const struct gs_device_bt_const CAN_btconst;
+extern const struct gs_device_bt_const_extended CAN_btconst_ext;
 
+#if defined(STM32G0)
+void can_init(can_data_t *channel, FDCAN_GlobalTypeDef *instance);
+#else
 void can_init(can_data_t *channel, CAN_TypeDef *instance);
-bool can_set_bittiming(can_data_t *channel, const struct gs_device_bittiming *timing);
+#endif
+void can_set_bittiming(can_data_t *channel, const struct gs_device_bittiming *timing);
+
+#ifdef CONFIG_CANFD
+void can_set_data_bittiming(can_data_t *channel, const struct gs_device_bittiming *timing);
+#else
+static inline bool can_set_data_bittiming(can_data_t *channel,
+										  const struct gs_device_bittiming *timing)
+{
+	(void)channel;
+	(void)timing;
+
+	return false;
+}
+#endif
+
 void can_enable(can_data_t *channel, uint32_t mode);
 void can_disable(can_data_t *channel);
 bool can_is_enabled(can_data_t *channel);

include/can_common.h

@@ -31,6 +31,7 @@ THE SOFTWARE.
 #include "can.h"
 #include "usbd_gs_can.h"
 
+bool can_check_bittiming_ok(const struct can_bittiming_const *btc, const struct gs_device_bittiming *timing);
 void CAN_SendFrame(USBD_GS_CAN_HandleTypeDef *hcan, can_data_t *channel);
 void CAN_ReceiveFrame(USBD_GS_CAN_HandleTypeDef *hcan, can_data_t *channel);
 void CAN_HandleError(USBD_GS_CAN_HandleTypeDef *hcan, can_data_t *channel);