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AP_HAL_ChibiOS: set canfd bitrates using CANFD_SUPPORTED opt

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bugobliterator 2022-03-01 14:45:20 +05:30 committed by Andrew Tridgell
parent 29673de4f3
commit faf0c0d7c3
4 changed files with 39 additions and 19 deletions
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32
libraries/AP_HAL_ChibiOS/CANFDIface.cpp
View File

@ -309,6 +309,7 @@ bool CANIface::computeTimings(const uint32_t target_bitrate, Timings& out_timing
return false;
}
out_timings.sample_point_permill = solution.sample_point_permill;
out_timings.prescaler = uint16_t(prescaler - 1U);
out_timings.sjw = 0; // Which means one
out_timings.bs1 = uint8_t(solution.bs1 - 1);
@ -647,8 +648,6 @@ bool CANIface::init(const uint32_t bitrate, const uint32_t fdbitrate, const Oper
/*
* CAN timings for this bitrate
*/
Timings timings;
if (!computeTimings(bitrate, timings)) {
can_->CCCR &= ~FDCAN_CCCR_INIT;
uint32_t while_start_ms = AP_HAL::millis();
@ -659,18 +658,18 @@ bool CANIface::init(const uint32_t bitrate, const uint32_t fdbitrate, const Oper
}
return false;
}
_bitrate = bitrate;
Debug("Timings: presc=%u sjw=%u bs1=%u bs2=%u\n",
unsigned(timings.prescaler), unsigned(timings.sjw), unsigned(timings.bs1), unsigned(timings.bs2));
//setup timing register
//TODO: Do timing calculations for FDCAN
can_->NBTP = ((timings.sjw << FDCAN_NBTP_NSJW_Pos) |
(timings.bs1 << FDCAN_NBTP_NTSEG1_Pos) |
(timings.bs2 << FDCAN_NBTP_NTSEG2_Pos) |
(timings.prescaler << FDCAN_NBTP_NBRP_Pos));
if (fdbitrate) {
if (!computeTimings(fdbitrate, timings)) { // Do 8x fast Data transmission for CAN FD frames
if (!computeTimings(fdbitrate, fdtimings)) {
can_->CCCR &= ~FDCAN_CCCR_INIT;
uint32_t while_start_ms = AP_HAL::millis();
while ((can_->CCCR & FDCAN_CCCR_INIT) == 1) {
@ -680,11 +679,12 @@ bool CANIface::init(const uint32_t bitrate, const uint32_t fdbitrate, const Oper
}
return false;
}
_fdbitrate = fdbitrate;
Debug("CANFD Timings: presc=%u bs1=%u bs2=%u\n",
unsigned(timings.prescaler), unsigned(timings.bs1), unsigned(timings.bs2));
can_->DBTP = ((timings.bs1 << FDCAN_DBTP_DTSEG1_Pos) |
(timings.bs2 << FDCAN_DBTP_DTSEG2_Pos) |
(timings.prescaler << FDCAN_DBTP_DBRP_Pos));
unsigned(fdtimings.prescaler), unsigned(fdtimings.bs1), unsigned(fdtimings.bs2));
can_->DBTP = ((fdtimings.bs1 << FDCAN_DBTP_DTSEG1_Pos) |
(fdtimings.bs2 << FDCAN_DBTP_DTSEG2_Pos) |
(fdtimings.prescaler << FDCAN_DBTP_DBRP_Pos));
}
//RX Config
@ -1086,7 +1086,14 @@ bool CANIface::select(bool &read, bool &write,
void CANIface::get_stats(ExpandingString &str)
{
CriticalSectionLocker lock;
str.printf("tx_requests: %lu\n"
str.printf("------- Clock Config -------\n"
"CAN_CLK_FREQ: %luMHz\n"
"Std Timings: bitrate=%lu presc=%u\n"
"sjw=%u bs1=%u bs2=%u sample_point=%f%%\n"
"FD Timings: bitrate=%lu presc=%u\n"
"sjw=%u bs1=%u bs2=%u sample_point=%f%%\n"
"------- CAN Interface Stats -------\n"
"tx_requests: %lu\n"
"tx_rejected: %lu\n"
"tx_overflow: %lu\n"
"tx_success: %lu\n"
@ -1101,6 +1108,13 @@ void CANIface::get_stats(ExpandingString &str)
"fdf_rx: %lu\n"
"fdf_tx_req: %lu\n"
"fdf_tx: %lu\n",
STM32_FDCANCLK/1000000UL,
_bitrate, unsigned(timings.prescaler),
unsigned(timings.sjw), unsigned(timings.bs1),
unsigned(timings.bs2), timings.sample_point_permill/10.0f,
_fdbitrate, unsigned(fdtimings.prescaler),
unsigned(fdtimings.sjw), unsigned(fdtimings.bs1),
unsigned(fdtimings.bs2), timings.sample_point_permill/10.0f,
stats.tx_requests,
stats.tx_rejected,
stats.tx_overflow,

7
libraries/AP_HAL_ChibiOS/CANFDIface.h
View File

@ -91,13 +91,15 @@ class ChibiOS::CANIface : public AP_HAL::CANIface
} MessageRam_;
struct Timings {
uint16_t sample_point_permill;
uint16_t prescaler;
uint8_t sjw;
uint8_t bs1;
uint8_t bs2;
Timings()
: prescaler(0)
: sample_point_permill(0)
, prescaler(0)
, sjw(0)
, bs1(0)
, bs2(0)
@ -150,7 +152,8 @@ class ChibiOS::CANIface : public AP_HAL::CANIface
static bool clock_init_;
bool _detected_bus_off;
Timings timings, fdtimings;
uint32_t _bitrate, _fdbitrate;
struct {
uint32_t tx_requests;
uint32_t tx_rejected;

3
libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.dat
View File

@ -18,7 +18,8 @@ APJ_BOARD_ID 140
FLASH_SIZE_KB 2048
CANFD_SUPPORTED 1
# supports upto 8MBits/s
CANFD_SUPPORTED 8
# with 2M flash we can afford to optimize for speed
env OPTIMIZE -O2

16
libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
View File

@ -689,14 +689,16 @@ def enable_can(f):
if 'CAN' in bytype and mcu_type.startswith("STM32F3"):
f.write('#define CAN1_BASE CAN_BASE\n')
env_vars['HAL_NUM_CAN_IFACES'] = str(len(base_list))
canfd_supported = get_config('CANFD_SUPPORTED', 0, required=False)
if canfd_supported:
f.write('#define HAL_CANFD_SUPPORTED 1\n')
env_vars['HAL_CANFD_SUPPORTED'] = 1
else:
f.write('#define HAL_CANFD_SUPPORTED 0\n')
env_vars['HAL_CANFD_SUPPORTED'] = 0
if mcu_series.startswith("STM32H7") and not args.bootloader:
# set maximum supported canfd bit rate in MBits/sec
canfd_supported = int(get_config('CANFD_SUPPORTED', 0, default=4, required=False))
f.write('#define HAL_CANFD_SUPPORTED %d\n' % canfd_supported)
env_vars['HAL_CANFD_SUPPORTED'] = canfd_supported
else:
canfd_supported = int(get_config('CANFD_SUPPORTED', 0, default=0, required=False))
f.write('#define HAL_CANFD_SUPPORTED %d\n' % canfd_supported)
env_vars['HAL_CANFD_SUPPORTED'] = canfd_supported
def has_sdcard_spi():
'''check for sdcard connected to spi bus'''