forked from Archive/PX4-Autopilot
STM32 CAN debug fixes
git-svn-id: https://nuttx.svn.sourceforge.net/svnroot/nuttx/trunk@4214 7fd9a85b-ad96-42d3-883c-3090e2eb8679
This commit is contained in:
patacongo
parent
bfc578860c
commit
e2ef959d92
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@ -248,6 +248,8 @@ static void can_reset(FAR struct can_dev_s *dev)
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uint32_t regbit = 0;
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irqstate_t flags;
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canllvdbg("CAN%d\n", priv->port);
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/* Get the bits in the AHB1RSTR register needed to reset this CAN device */
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#ifdef CONFIG_STM32_CAN1
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@ -265,7 +267,8 @@ static void can_reset(FAR struct can_dev_s *dev)
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else
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#endif
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{
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candbg("Unsupported port %d\n", priv->port);
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canlldbg("Unsupported port %d\n", priv->port);
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return;
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}
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/* Disable interrupts momentary to stop any ongoing CAN event processing and
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@ -276,9 +279,12 @@ static void can_reset(FAR struct can_dev_s *dev)
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/* Reset the CAN */
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regval = getreg32(STM32_RCC_AHB1RSTR);
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regval = getreg32(STM32_RCC_APB1RSTR);
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regval |= regbit;
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putreg32(regval, STM32_RCC_AHB1RSTR);
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putreg32(regval, STM32_RCC_APB1RSTR);
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regval &= ~regbit;
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putreg32(regval, STM32_RCC_APB1RSTR);
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irqrestore(flags);
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}
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@ -304,12 +310,14 @@ static int can_setup(FAR struct can_dev_s *dev)
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FAR struct stm32_can_s *priv = dev->cd_priv;
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int ret;
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canllvdbg("CAN%d\n", priv->port);
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/* CAN cell initialization */
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ret = can_cellinit(priv);
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if (ret < 0)
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{
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candbg("CAN cell initialization failed: %d\n", ret);
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canlldbg("CAN%d cell initialization failed: %d\n", priv->port, ret);
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return ret;
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}
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@ -318,7 +326,7 @@ static int can_setup(FAR struct can_dev_s *dev)
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ret = can_filterinit(priv);
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if (ret < 0)
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{
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candbg("CAN filter initialization failed: %d\n", ret);
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canlldbg("CAN%d filter initialization failed: %d\n", priv->port, ret);
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return ret;
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}
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@ -327,7 +335,7 @@ static int can_setup(FAR struct can_dev_s *dev)
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ret = irq_attach(priv->canrx0, can_rx0interrupt);
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if (ret < 0)
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{
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candbg("Failed to attach CAN%d RX0 IRQ (%d)", priv->port, priv->canrx0);
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canlldbg("Failed to attach CAN%d RX0 IRQ (%d)", priv->port, priv->canrx0);
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return ret;
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}
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@ -359,6 +367,8 @@ static void can_shutdown(FAR struct can_dev_s *dev)
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{
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FAR struct stm32_can_s *priv = dev->cd_priv;
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canllvdbg("CAN%d\n", priv->port);
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/* Disable the RX FIFO 0 interrupt */
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up_disable_irq(priv->canrx0);
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@ -391,6 +401,8 @@ static void can_rxint(FAR struct can_dev_s *dev, bool enable)
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FAR struct stm32_can_s *priv = dev->cd_priv;
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uint32_t regval;
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canllvdbg("CAN%d enable: %d\n", priv->port, enable);
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/* Enable/disable the FIFO 0 message pending interrupt */
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regval = can_getreg(priv, STM32_CAN_IER_OFFSET);
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@ -497,6 +509,9 @@ static int can_send(FAR struct can_dev_s *dev, FAR struct can_msg_s *msg)
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int dlc;
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int txmb;
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canllvdbg("CAN%d ID: %d DLC: %d\n",
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priv->port, CAN_ID(msg->cm_hdr), CAN_DLC(msg->cm_hdr));
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/* Select one empty transmit mailbox */
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regval = can_getreg(priv, STM32_CAN_TSR_OFFSET);
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@ -514,7 +529,7 @@ static int can_send(FAR struct can_dev_s *dev, FAR struct can_msg_s *msg)
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}
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else
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{
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candbg("ERROR: No available mailbox\n");
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canlldbg("ERROR: No available mailbox\n");
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return -EBUSY;
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}
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@ -603,6 +618,14 @@ static int can_send(FAR struct can_dev_s *dev, FAR struct can_msg_s *msg)
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regval = can_getreg(priv, STM32_CAN_TIR_OFFSET(txmb));
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regval |= CAN_TIR_TXRQ; /* Transmit Mailbox Request */
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can_putreg(priv, STM32_CAN_TIR_OFFSET(txmb), regval);
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/* Tell the upper half that the tansfer is finished now (we would have to
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* take the transfer complete interrupt to know it "really" finished. So
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* although the transfer is not finished, all of the upper half resources
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* are now available so makes sense to call can_txdone now.
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*/
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(void)can_txdone(dev);
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return OK;
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}
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@ -632,6 +655,8 @@ static bool can_txempty(FAR struct can_dev_s *dev)
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/* Return false if any mailbox is unavailable */
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regval = can_getreg(priv, STM32_CAN_TSR_OFFSET);
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canllvdbg("CAN%d TSR: %08x\n", priv->port, regval);
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if ((regval & CAN_TSR_TME0) == 0)
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{
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return false;
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@ -699,6 +724,7 @@ static int can_rx0interrupt(int irq, void *context)
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npending = (regval & CAN_RFR_FMP_MASK) >> CAN_RFR_FMP_SHIFT;
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if (npending < 1)
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{
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canlldbg("WARNING: No messages pending\n");
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return OK;
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}
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@ -812,94 +838,60 @@ static int can_bittiming(struct stm32_can_s *priv)
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uint32_t brp;
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uint32_t ts1;
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uint32_t ts2;
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int candidate;
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int diff;
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canvdbg("PCLK1: %d baud: %d\n" ,STM32_PCLK1_FREQUENCY, priv->baud);
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canllvdbg("CAN%d PCLK1: %d baud: %d\n", priv->port, STM32_PCLK1_FREQUENCY, priv->baud);
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/* Loop trying different values of ts1 until we get a solution with the
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* ts1 near ts2 and both values within range.
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/* Try to get 14 quanta in one bit_time. That is based on the idea that the ideal
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* would be ts1=6 nd ts2=7 and (1 + ts1 + ts2) = 14.
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*
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* bit_time = Tq*(1 +ts1 + ts2)
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* nquanta = bit_time/Tq
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* nquanta = (1 +ts1 + ts2)
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*
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* bit_time = brp * Tpclk1 * (1 + ts1 + ts2)
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* nquanta = bit_time / brp / Tpclk1
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* = PCLK1 / baud / brp
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* brp = PCLK1 / baud / nquanta;
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*
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* Example:
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* PCLK1 = 42,000,000 baud = 1,000,000 : tmp = 13
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* PCLK1 = 42,000,000 baud = 1,000,000 nquanta = 14 : brp = 3
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* PCLK1 = 42,000,000 baud = 700,000 nquanta = 14 : brp = 4
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*/
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tmp = STM32_PCLK1_FREQUENCY / 3 / priv->baud - 1;
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for (candidate = 1, ts1 = 17, diff = 16; candidate <= 16; candidate++)
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tmp = STM32_PCLK1_FREQUENCY / priv->baud;
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if (tmp < 14)
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{
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/* Then calculate the new ts2 value corresponding to this candidate:
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*
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* Example:
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* ...
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* PCLK1 = 42,000,000 baud = 1,000,000 tmp = 13 candidate = 4 : ts2 = 9
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* PCLK1 = 42,000,000 baud = 1,000,000 tmp = 13 candidate = 5 : ts2 = 8
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* PCLK1 = 42,000,000 baud = 1,000,000 tmp = 13 candidate = 6 : ts2 = 7
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* ...
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/* At the smallest brp value (1), there are already fewer bit times
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* (PCLCK1 / baud) is already smaller than our goal. brp must be one
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* and we need make some reasonalble guesses about ts1 and ts2.
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*/
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ts2 = tmp - candidate;
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brp = 1;
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/* Break out if ts2 is too small (it will only get smaller on the following
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* passes.
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*/
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/* In this case, we have to guess a good value for ts1 and ts2 */
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if (ts2 < 1)
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ts1 = (tmp - 1) >> 1;
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ts2 = tmp - ts1 - 1;
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if (ts1 == ts2 && ts1 > 1 && ts2 < 16)
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{
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break;
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}
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/* Is ts2 within its upper range. No then keep looping because it
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* will get smaller.
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*/
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else if (ts2 <= 8)
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{
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/* In range is is the best so far? */
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int tmpdiff = candidate - ts2;
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if (tmpdiff < 0)
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{
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tmpdiff = -tmpdiff;
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}
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if (tmpdiff < diff)
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{
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diff = tmpdiff;
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ts1 = candidate;
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}
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ts1--;
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ts2++;
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}
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}
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/* Check for errors */
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if (ts1 > 16)
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{
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/* If this happens, it means that there is a bug in the algorithm */
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candbg("Could not find a value for TS1/2\n");
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return -EINVAL;
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}
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/* Calculate the BRP value would support the selected values of ts1 value and ts2:
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*
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* Example:
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* PCLK1 = 42,000,000 baud = 1,000,000 ts1 = 6 ts2 = 7 : tmp = 3,000,000 brp = 3
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/* Otherwise, nquanta is 14, ts1 is 6, ts2 is 7 and we calculate brp to
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* achieve 14 quanta in the bit time
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*/
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tmp = STM32_PCLK1_FREQUENCY / (ts1 + ts2 + 1);
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brp = (tmp + (priv->baud - 1)) / priv->baud;
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/* Check for errors */
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if (brp > 1024)
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else
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{
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/* If this happens, it means that there is a bug in the algorithm */
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candbg("BRP is out of range: TS1: %d TS2: %d BRP: %d\n", ts1, ts2, brp);
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return -EINVAL;
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ts1 = 6;
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ts2 = 7;
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brp = tmp / 14;
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DEBUGASSERT(brp >=1 && brp < 1024);
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}
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canvdbg("TS1: %d TS2: %d BRP: %d\n", ts1, ts2, brp);
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canllvdbg("TS1: %d TS2: %d BRP: %d\n", ts1, ts2, brp);
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/* Configure bit timing. This also does the the following, less obvious
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* things. Unless loopback mode is enabled, it:
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@ -941,6 +933,8 @@ static int can_cellinit(struct stm32_can_s *priv)
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uint32_t regval;
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int ret;
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canllvdbg("CAN%d\n", priv->port);
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/* Exit from sleep mode */
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regval = can_getreg(priv, STM32_CAN_MCR_OFFSET);
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@ -955,7 +949,7 @@ static int can_cellinit(struct stm32_can_s *priv)
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/* Wait until initialization mode is acknowledged */
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for (timeout = INAK_TIMEOUT; timeout > 0; timeout++)
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for (timeout = INAK_TIMEOUT; timeout > 0; timeout--)
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{
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regval = can_getreg(priv, STM32_CAN_MSR_OFFSET);
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if ((regval & CAN_MSR_INAK) != 0)
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@ -970,7 +964,7 @@ static int can_cellinit(struct stm32_can_s *priv)
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if (timeout < 1)
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{
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candbg("ERROR: Timed out waiting to enter intialization mode\n");
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canlldbg("ERROR: Timed out waiting to enter initialization mode\n");
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return -ETIMEDOUT;
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}
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@ -993,7 +987,7 @@ static int can_cellinit(struct stm32_can_s *priv)
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ret = can_bittiming(priv);
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if (ret < 0)
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{
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candbg("ERROR: Failed to set bit timing: %d\n", ret);
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canlldbg("ERROR: Failed to set bit timing: %d\n", ret);
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return ret;
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}
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@ -1005,7 +999,7 @@ static int can_cellinit(struct stm32_can_s *priv)
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/* Wait until initialization mode is acknowledged */
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for (timeout = INAK_TIMEOUT; timeout > 0; timeout++)
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for (timeout = INAK_TIMEOUT; timeout > 0; timeout--)
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{
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regval = can_getreg(priv, STM32_CAN_MSR_OFFSET);
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if ((regval & CAN_MSR_INAK) == 0)
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@ -1020,7 +1014,7 @@ static int can_cellinit(struct stm32_can_s *priv)
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if (timeout < 1)
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{
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candbg("ERROR: Timed out waiting to exit intialization mode\n");
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canlldbg("ERROR: Timed out waiting to exit initialization mode: %08x\n", regval);
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return -ETIMEDOUT;
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}
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return OK;
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@ -1045,13 +1039,13 @@ static int can_filterinit(struct stm32_can_s *priv)
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uint32_t regval;
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uint32_t bitmask;
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canvdbg("CAN%d filter: %d\n", priv->port, priv->filter);
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canllvdbg("CAN%d filter: %d\n", priv->port, priv->filter);
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/* Get the bitmask associated with the filter used by this CAN block */
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bitmask = ((uint32_t)1) << priv->filter;
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/* Enter filter intialization mode */
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/* Enter filter initialization mode */
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regval = can_getreg(priv, STM32_CAN_FMR_OFFSET);
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regval |= CAN_FMR_FINIT;
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@ -1124,6 +1118,8 @@ FAR struct can_dev_s *stm32_caninitialize(int port)
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{
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struct can_dev_s *dev = NULL;
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canvdbg("CAN%d\n", port);
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/* NOTE: Peripherical clocking for CAN1 and/or CAN2 was already provided
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* by stm32_clockconfig() early in the reset sequence.
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*/
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@ -1165,7 +1161,7 @@ FAR struct can_dev_s *stm32_caninitialize(int port)
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else
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#endif
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{
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candbg("Unsupported port %d\n", port);
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candbg("ERROR: Unsupported port %d\n", port);
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return NULL;
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}
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@ -133,6 +133,8 @@ static int can_open(FAR struct file *filep)
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uint8_t tmp;
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int ret = OK;
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canvdbg("ocount: %d\n", dev->cd_ocount);
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/* If the port is the middle of closing, wait until the close is finished */
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if (sem_wait(&dev->cd_closesem) != OK)
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@ -204,6 +206,8 @@ static int can_close(FAR struct file *filep)
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irqstate_t flags;
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int ret = OK;
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canvdbg("ocount: %d\n", dev->cd_ocount);
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if (sem_wait(&dev->cd_closesem) != OK)
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{
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ret = -errno;
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@ -279,6 +283,8 @@ static ssize_t can_read(FAR struct file *filep, FAR char *buffer, size_t buflen)
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irqstate_t flags;
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int ret = 0;
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canvdbg("buflen: %d\n", buflen);
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/* The caller must provide enough memory to catch the smallest possible message
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* This is not a system error condition, but we won't permit it, Hence we return 0.
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*/
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@ -367,6 +373,8 @@ static int can_xmit(FAR struct can_dev_s *dev)
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bool enable = false;
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int ret = OK;
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canllvdbg("xmit head: %d tail: %d\n", dev->cd_xmit.cf_head, dev->cd_xmit.cf_tail);
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/* Check if the xmit FIFO is empty */
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if (dev->cd_xmit.cf_head != dev->cd_xmit.cf_tail)
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@ -400,6 +408,8 @@ static ssize_t can_write(FAR struct file *filep, FAR const char *buffer, size_t
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int msglen;
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int ret = 0;
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canvdbg("buflen: %d\n", buflen);
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/* Interrupts must disabled throughout the following */
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flags = irqsave();
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@ -573,6 +583,8 @@ static int can_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
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FAR struct can_dev_s *dev = inode->i_private;
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int ret = OK;
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canvdbg("cmd: %d arg: %ld\n", cmd, arg);
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/* Handle built-in ioctl commands */
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switch (cmd)
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@ -661,6 +673,8 @@ int can_receive(FAR struct can_dev_s *dev, uint16_t hdr, FAR uint8_t *data)
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int err = -ENOMEM;
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int i;
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canllvdbg("ID: %d DLC: %d\n", CAN_ID(hdr), CAN_DLC(hdr));
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/* Check if adding this new message would over-run the drivers ability to enqueue
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* read data.
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*/
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@ -742,7 +756,7 @@ int can_receive(FAR struct can_dev_s *dev, uint16_t hdr, FAR uint8_t *data)
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* Called from the CAN interrupt handler at the completion of a send operation.
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*
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* Parameters:
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* dev - The specifi CAN device
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* dev - The specific CAN device
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* hdr - The 16-bit CAN header
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* data - An array contain the CAN data.
|
||||
*
|
||||
|
|
@ -755,6 +769,8 @@ int can_txdone(FAR struct can_dev_s *dev)
|
|||
{
|
||||
int ret = -ENOENT;
|
||||
|
||||
canllvdbg("xmit head: %d tail: %d\n", dev->cd_xmit.cf_head, dev->cd_xmit.cf_tail);
|
||||
|
||||
/* Verify that the xmit FIFO is not empty */
|
||||
|
||||
if (dev->cd_xmit.cf_head != dev->cd_xmit.cf_tail)
|
||||
|
|
|
|||
Loading…
Reference in New Issue