mirror of
https://github.com/ArduPilot/ardupilot
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1c8048df8f
our CANFD timings were resulting in a lot of busoff errors. Here is an example of master at 1Mbit/5MBit: Getting @SYS/can0_stats.txt as - ------- Clock Config ------- CAN_CLK_FREQ: 80MHz Std Timings: bitrate=1000000 presc=7 sjw=0 bs1=7 bs2=0 sample_point=90.00000% FD Timings: bitrate=5000000 presc=1 sjw=0 bs1=5 bs2=0 sample_point=90.00000% ------- CAN Interface Stats ------- tx_requests: 2689 tx_rejected: 0 tx_overflow: 443 tx_success: 7 tx_timedout: 2232 tx_abort: 0 rx_received: 18470 rx_overflow: 0 rx_errors: 0 num_busoff_err: 34439 num_events: 18477 ECR: F8 fdf_rx: 18467 fdf_tx_req: 2182 fdf_tx: 0 here is an example with the new timings: ------- Clock Config ------- CAN_CLK_FREQ: 80MHz Std Timings: bitrate=1000000 presc=8 sjw=1 bs1=8 bs2=1 sample_point=90.00000% FD Timings: bitrate=8000000 presc=2 sjw=3 bs1=8 bs2=3 sample_point=80.00000% ------- CAN Interface Stats ------- tx_requests: 3023 tx_rejected: 0 tx_overflow: 0 tx_success: 3023 tx_timedout: 0 tx_abort: 0 rx_received: 27865 rx_overflow: 0 rx_errors: 0 num_busoff_err: 0 num_events: 30888 ECR: 0 fdf_rx: 27862 fdf_tx_req: 3016 fdf_tx: 3016 I am testing between a CubeOrange and a Pixhawk6X. I tested 1, 2, 4, 5 and 8 MBit (which are the only valid FD bitrates in our parameters) Many thanks to Kai from Salient Motion for finding this issue and providing the corrected timing table |
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| .. | ||
| hwdef | ||
| AnalogIn.cpp | ||
| AnalogIn.h | ||
| AP_HAL_ChibiOS_Namespace.h | ||
| AP_HAL_ChibiOS_Private.h | ||
| AP_HAL_ChibiOS.h | ||
| bxcan.hpp | ||
| CANFDIface.cpp | ||
| CANFDIface.h | ||
| CanIface.cpp | ||
| CANIface.h | ||
| Device.cpp | ||
| Device.h | ||
| DSP.cpp | ||
| DSP.h | ||
| Flash.h | ||
| GPIO.cpp | ||
| GPIO.h | ||
| HAL_ChibiOS_Class.cpp | ||
| HAL_ChibiOS_Class.h | ||
| I2CDevice.cpp | ||
| I2CDevice.h | ||
| LogStructure.h | ||
| RCInput.cpp | ||
| RCInput.h | ||
| RCOutput_bdshot.cpp | ||
| RCOutput_iofirmware.cpp | ||
| RCOutput_serial.cpp | ||
| RCOutput.cpp | ||
| RCOutput.h | ||
| Scheduler.cpp | ||
| Scheduler.h | ||
| sdcard.cpp | ||
| sdcard.h | ||
| Semaphores.cpp | ||
| Semaphores.h | ||
| shared_dma.cpp | ||
| shared_dma.h | ||
| SoftSigReader.cpp | ||
| SoftSigReader.h | ||
| SoftSigReaderInt.cpp | ||
| SoftSigReaderInt.h | ||
| SPIDevice.cpp | ||
| SPIDevice.h | ||
| stdio.cpp | ||
| Storage.cpp | ||
| Storage.h | ||
| system.cpp | ||
| UARTDriver.cpp | ||
| UARTDriver.h | ||
| Util.cpp | ||
| Util.h | ||
| WSPIDevice.cpp | ||
| WSPIDevice.h | ||